[env]
time_limit = 45
time_step = 0.3
val_size = 10
test_size = 100
randomize_attributes = false


[reward]
success_reward = 1
collision_penalty = -0.25
discomfort_dist = 0.1
discomfort_penalty_factor = 0.5


[sim]
train_val_sim = circle_crossing
test_sim = circle_crossing
square_width = 5
circle_radius = 2
human_num = 5


[humans]
visible = true
policy = orca
radius = 0.15
v_pref = 0.5
sensor = coordinates


[robot]
visible = false
policy = orca
radius = 0.15
v_pref = 0.5
sensor = coordinates