name: "DEFAULT"

# Supported Units:
# px: Pixels
# em: 1em = Full Width / Height
# ct: 100ct = Full Width / Height
# rx: pixels relative to width
# ry: pixels relative to height
#
# When no unit is given, we use the folowing defaults
# (compatible with legacy behavior)
# pos: em
# all other: px
#
# ct is the recommendet unit...

params:
  task:
    task: columbus
    env_name: ColumbusConfigDefined-v0
    env_args:
      observable:
        - type: State
          coordsAgent: True
          speedAgent: True
          coordsRelativeToAgent: False
          coordsRewards: True
          coordsEnemys: False
          enemysNoBarriers: True
          rewardsTimeouts: False
          include_rand: True
        - type: State
          coordsAgent: False
          speedAgent: False
          coordsRelativeToAgent: True
          coordsRewards: True
          coordsEnemys: False
          enemysNoBarriers: True
          rewardsTimeouts: False
          include_rand: True
        - type: Compass
        - type: RayCast
          num_rays: 6
          chans: [Enemy]
      entities:
        - type: RectBarrier
          num: 1
          width: 50ct
          height: 50ct
          pos: [0ct, 0ct]
        - type: RectBarrier
          num: 1
          width: 50ct
          height: 50ct
          pos: [50ct, 50ct]
        - type: RectBarrier
          num: 1
          width: 25rx
          height: 25ry
          pos: [0.75em, 30px]
        - type: RectBarrier
          num: 1
          width: 25ry
          height: 25rx
          pos: [0.75em, 60px]
        - type: RectBarrier
          num: 1
          width: 20 # defaults to rx (px scaled from x-axis)
          height: 10 # defaults to ry (px scaled from y-axis)
          pos: [0.75em, 90px]
        - type: OnceReward
          reward: 100
          radius: 3ct
          pos: [0.3, 0.8] # defaults to em
      start_pos: [90ct, 20ct]
      default_collision_elasticity: 0.8
      start_score: 10
      speed_fac: 0.01
      acc_fac: 0.1
      die_on_zero: False #True
      agent_drag: 0.1 # 0.05
      controll_type: ACC # SPEED
      aux_reward_max: 1
      aux_penalty_max: 0.01
      void_damage: 5 #1
      terminate_on_reward: True
      agent_draw_path: True
      clear_path_on_reset: False
      max_steps: 450 # 1800
---