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config_data_gen.yml
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config_data_gen.yml
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controller: mpc
ML_Pipeline_mode: True # If True a directory structure required by SI_Toolkit will be created, location taken from config_training, not from here.
split: [0.8, 0.1] # Train/Val/(Test) split - only matters if you run it in ML Pipeline mode
PATH_TO_EXPERIMENT_RECORDINGS_DEFAULT: './Experiment_Recordings/' # Where to save experiment recording per default, can be overwritten in config_training if ML_Pipeline_mode is True
seed: # If not assign random seed based on datetime is used
length_of_experiment: 360 # Length of each experiment in s:
random_initial_state:
# Unassigned variables will be randomly initialized (see below)
position:
positionD:
angle: #Seems to be in radian
angleD:
target_position:
init_limits: # The initial state is randomly chosen from below range if above is not assigned
angle: [0.0, 180.0] # degree, 0 is up, 180 down, set the range for right half plane, same will be applied to left
angleD: 1200.0
position: 0.8 # Fraction of TrackHalfLength to each side
positionD: 0.5 # Fraction of TrackHalfLength to each side
start_at_target: True # initial target position should be equal to initial state
track_fraction_usable_for_target_position: 1.0 # Set the max for smoothly interpolated random target position to avoid bumping into track ends.
target_position_end: ~ # value OR not assigned - random value is taken
initial_target_equilibrium: 'up' # possible 'up', 'down', 'random' = 50/50
keep_target_equilibrium_x_seconds_up: 10
keep_target_equilibrium_x_seconds_down: 2.5
dt:
simulation: 0.002 # simulation timestep, s
control: 0.02 # control rate, s
saving: 0.02 # save datapoints in csv in this interval, s
turning_points:
track_relative_complexity: 1 # Randomly placed target points/s
interpolation_type: '0-derivative-smooth' # How to interpolate between turning points of random trace, Possible options: '0-derivative-smooth', 'linear', 'previous'
turning_points: # List of target positions, can be None to simulate with random targets, Example: turning_points_DataGen = [0.0, 0.1, -0.1, 0.0]
turning_points_period: 'regular' # How turning points should be distributed, Possible options: 'regular', 'random'; never used, leave it as it is
save_mode: 'online' # It was intended to save memory usage, but it doesn't seems to help, setit to "offline" only if you want to show summary plots
# Show popup window in the end with summary of experiment?
show_summary_plots: False
show_controller_report: False
number_of_experiments: 12 # How many experiments will be generated