params.yaml

track_info:
  centerline_file: "new_traj.csv"
  track_width: 5.0
  texture_blend_factor: 0.9
  obs_density: 0.0
  vegetation_density: 0.4
  offtrack_roughness: 0.00
  scale: 20.0
  ox: 200.0
  oy: 200.0
  bush_demarcation: 0.5

heightmap:
  filename: "heightmap.png"
  scale: 0.0

respawn_loc: 
  x: 200.0
  y: 3.0
  z: 200.0
  roll: 0
  pitch: 0
  yaw: 0

sensors:
  lidar: true
  camera: true
  pose: true
  imu: true

timescale: 1.0

vehicle_params:
  m: 250.0
  I: 300.0
  max_steer: 0.34
  Lf: 1.0
  Lr: 1.0
  K_cmd: 2000.0
  K_v: 50.0
  K_brake: 2000.0
  K_aero: 3.0
  mu_f: 0.9
  mu_r: 0.9
  g: 9.81
  h_cg: 0.0
  Cf: 1.0
  Cr: 1.0
  Bf: 10.0
  Br: 10.0
  K_steer: 1.0
  K_friction: 30.0
  delay: 0
  v_kin: 3.0