forest_navigating_uav/configs/sim/gazebo.yaml
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env:
  backend: gazebo
  check_env: false
  env_kwargs:
    params:
      dt: 0.1
      lidar_num_beams: 90
      lidar_range_max: 30.0
      lidar_min_valid_range: 0.03
      v_max: 6.0
      wz_max: 2.5
      vz_max: 2.0
      r_safe: 0.24
      collision_threshold: 0.18
      episode_seconds: 600.0
      goal_tolerance: 2.0
      world_radius: 20.0
      boundary_margin: 1.5
      drone_radius: 0.18
      default_z_target: 0.3
      z_error_scale: 5.0

      reward_progress_scale: 5.0
      reward_speed_scale: 0.015
      reward_step_penalty: 0.02
      reward_proximity_scale: 0.45
      reward_shield_penalty: 0.035
      reward_collision_penalty: 28.0
      reward_success_bonus: 22.0
      reward_truncation_penalty: 8.0
      reward_yaw_rate_scale: 0.04
      reward_stall_penalty: 0.05
      reward_accel_clip_penalty: 0.08
      progress_stall_threshold: 0.02
      yaw_penalty_speed_gate: 0.25

      shield_floor_z_min: 0.3
      shield_ceiling_z_max: 0.3
      shield_lookahead_margin: 3.0
      shield_yaw_damping: 0.4
      shield_front_arc_deg: 70.0
      shield_ttc_threshold_sec: 1.0
      tree_radius_mean: 0.14
      tree_radius_std: 0.03
      tree_radius_min: 0.08
      tree_radius_max: 0.30
      worldgen_config_relpath: configs/worldgen/worldgen_run.yaml
      worldgen_seed_offset: 0
      worldgen_resample_every_n_episodes: 1
      worldgen_verbose: false

      odom_topic: /model/uav1/odometry
      scan_topic: /scan
      cmd_vel_topic: /model/uav1/cmd_vel
      spin_timeout_sec: 2.0
      settle_time_sec: 0.05
      attitude_lock_enabled: true
      attitude_lock_kp: 8.0
      attitude_lock_max_rate: 20.0
      use_sim_reset_service: false
      reset_service_name: /reset_simulation

      fixed_goal: [8.0, 0.0, 0.3]
      randomize_goal_on_reset: true
      start_goal_clearance: 0.6
      min_start_goal_distance: 8.0
      spawn_max_attempts: 500

      action_mode: hybrid
      accel_v_max: 4.5
      accel_wz_max: 3.2
      accel_vz_max: 1.8
      decel_v_max: 10.5
      decel_wz_max: 5.0
      decel_vz_max: 3.5