1 turtlebot2: #namespace
   2     task_and_robot_environment_name: 'MyTurtleBot2Wall-v0'
   3     ros_ws_abspath: "/home/user/simulation_ws"
   4     running_step: 0.04 # amount of time the control will be executed
   5     pos_step: 0.016     # increment in position for each command
   6     
   7     #qlearn parameters
   8     alpha: 0.1
   9     gamma: 0.7
  10     epsilon: 0.9
  11     epsilon_discount: 0.999
  12     nepisodes: 500
  13     nsteps: 10000
  14     running_step: 0.06 # Time for each step