environment meaning in yalm file is not clear.

[FPSychotic]

Hi, I'm setting a mid-360, more or less I have clear the settings but I cannot find how "environment" works.
Also in the Avia file there is different options than Velodyne one.

I would thank more detailed explanations or a config file for mid-360 if possible, couldn't find the vertical angular resolution, horizontal is <0.15 which doesn't look very precise info, I added that 0.15 to vertical and horizontal resolution.

Thank by share this software , there is very smart and clever things here.