envConfig.json

{
  "simulator" : "NerfSimulator",
  "stress_test" : "Monte Carlo",
  "uq_method": "Gaussian Approximation",
  "n_simulations" : 100,
  "estimator_cfg": {
    "dil_iter": 3,
    "kernel_size": 5,
    "batch_size": 1024,
    "lrate": 1e-3,
    "N_iter": 100,
    "render_viz": true,
    "show_rate": [20, 100]
  },
  "agent_cfg": {
    "body_lims": [
      [-0.05, 0.05],
      [-0.05, 0.05],
      [-0.02, 0.02]
    ],
    "body_nbins": [10, 10, 5],
    "mass": 1.0,
    "g": 10.0,
    "I": [[1, 0, 0], [0, 1, 0], [0, 0, 1]],
    "path": "./sim_img_cache",
    "blend_file": "stonehenge.blend"
  },
  "planner_cfg": {
    "x_range": [-1.15, 0.8],
    "y_range": [-1.2, 0.9],
    "z_range": [0.05, 0.45],
    "start_pos": [-0.75, -0.235, 0.25],
    "end_pos": [0.2, -0.74, 0.3],
    "start_R": [0.0, 0.0, 0.0],
    "end_R": [0.0, 0.0, 0.0],
    "T_final": 2.0,
    "steps": 12,
    "planner_lr": 0.001,
    "epochs_init": 1000,
    "fade_out_epoch": 0,
    "fade_out_sharpness": 10,
    "epochs_update": 250
  },
  "mpc_cfg": {
    "mpc_noise_mean": [0.0, 0.0, 0.0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
    "mpc_noise_std": [2e-2, 2e-2, 2e-2, 1e-2, 1e-2, 1e-2, 2e-2, 2e-2, 2e-2, 1e-2, 1e-2, 1e-2]
  },
  "camera_cfg": {
    "half_res": false,
    "white_bg": true,
    "res_x": 800,    
    "res_y": 800,
    "trans": true,
    "mode": "RGBA"
  }
}