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racecar.yml
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racecar.yml
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urdf_file: racecar.urdf
actuators:
- type: steering
name: steering
params:
steering_multiplier: 0.5
max_steering_angle: 0.42
- type: motor
name: motor
params:
velocity_multiplier: 20.0
max_velocity: 5.0
max_force: 0.5
- type: speed
name: speed
params:
velocity_multiplier: 25.0
max_velocity: 3.5
max_force: 0.5
sensors:
- type: pose
name: pose
frequency: 100
params:
gaussian_noise: 0.01
bounds: [ 100.0, 100.0, 3.0 ]
debug: False
- type: acceleration
name: acceleration
frequency: 100
params:
time_delta: 0.01
gaussian_noise: 0.01
linear_bounds: [ inf, inf, inf ]
angular_bounds: [ inf, inf, inf ]
debug: False
- type: velocity
name: velocity
frequency: 100
params:
gaussian_noise: 0.01
max_linear_velocity: 14.0
max_angular_velocity: 6.0
debug: False
- type: lidar
name: lidar
frequency: 25
params:
accuracy: 0.03 # maximum deviation from true scan range (percentage)
rays: 1080
range: 15.0
min_range: 0.25
angle_start: -2.36
angle: 4.71
debug: False
- type: rgb_camera
name: rgb_camera
frequency: 30
params:
width: 128
height: 128
fov: 90
distance: 1
near_plane: 0.01
far_plane: 100
- type: rgb_camera
name: hd_camera
frequency: 30
params:
width: 320
height: 240
fov: 90
distance: 1
near_plane: 0.01
far_plane: 100
- type: rgb_camera
name: low_res_camera
frequency: 100
params:
width: 64
height: 64
fov: 90
distance: 1
near_plane: 0.01
far_plane: 100