{
  "dataset": "orbital_evasion",
  "policy": "rrt_star_planning + pd_path_tracking",
  "num_trajectories": 8000,
  "total_steps": 2114895,
  "state_definition": {
    "description": "s_t = [p_t, v_t, r_x, r_y, omega_t, phi_t]",
    "dim": 16,
    "fields": {
      "p_t": {
        "start": 0,
        "end": 3,
        "desc": "Spacecraft displacement relative to its initial position (world frame, initially at the origin)"
      },
      "v_t": {
        "start": 3,
        "end": 6,
        "desc": "Linear velocity (body frame)"
      },
      "rot6d": {
        "start": 6,
        "end": 12,
        "desc": "6D rotation (first two columns of the rotation matrix)"
      },
      "omega_t": {
        "start": 12,
        "end": 15,
        "desc": "Angular velocity (body frame)"
      },
      "phi_t": {
        "start": 15,
        "end": 16,
        "desc": "Remaining fuel fraction [0,1]"
      }
    }
  },
  "action_definition": {
    "description": "a_t = [F1, F2, ..., F8]",
    "dim": 8,
    "range": "[0, 1]",
    "desc": "Output force of the 8 thrusters"
  },
  "event_definition": {
    "description": "e_t = [collision, success]",
    "dim": 2,
    "fields": {
      "collision": {
        "index": 0,
        "method": "impulse_detection",
        "threshold_delta_v_ms": 0.5,
        "threshold_delta_v_ms_explore": 0.5,
        "post_collision_steps": 30,
        "desc": "Single-step velocity change delta-v > threshold (physical collision impulse). Do not terminate immediately after the first collision; record 30 additional post-collision states in closed loop. The collision_step trajectory attribute gives the frame number of the first collision"
      },
      "success": {
        "index": 1,
        "mode": "pass_plane",
        "z_tol": 0.5,
        "xy_radius": 10.0,
        "point_threshold": 0.5,
        "desc": "Passes the target's z-plane without excessive lateral deviation (pass_plane)"
      }
    }
  },
  "observation": {
    "camera": "first_person (onboard camera, follows the spacecraft attitude)",
    "camera_mount": {
      "mode": "forward",
      "optical_axis_body": "-Z",
      "pos_body": [
        0.0,
        0.0,
        -0.1
      ]
    },
    "rgb": "224x224x3 uint8 PNG",
    "depth": {
      "format": "224x224 uint8 PNG (grayscale)",
      "range": "[0, 255]",
      "clipping_range_m": [
        0.1,
        50.1
      ],
      "to_meters": "depth_m = ((255 - value) / 255.0) * 50.0 + 0.1",
      "note": "255=near(0.1m), 0=far(50.1m), near is bright and far is dark, background/space=0"
    }
  },
  "env_config": {
    "num_envs": 1,
    "camera_resolution": [
      224,
      224
    ],
    "camera_data_types": [
      "rgb",
      "depth"
    ],
    "max_steps": 300,
    "seed": 42,
    "num_obstacles": 14,
    "obstacle_scale": 3.0,
    "obstacle_layout": "on_path",
    "obs_lateral": 9.0,
    "static_obstacles": false,
    "post_collision_steps": 30,
    "plan_clearance_expert": 1.2,
    "nose_pointing": "on",
    "point_settle_s": 0.5,
    "base_max_speed": 2.0
  },
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