planner_configs: SBLkConfigDefault: type: geometric::SBL range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() ESTkConfigDefault: type: geometric::EST range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 LBKPIECEkConfigDefault: type: geometric::LBKPIECE range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 BKPIECEkConfigDefault: type: geometric::BKPIECE range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 KPIECEkConfigDefault: type: geometric::KPIECE range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 RRTkConfigDefault: type: geometric::RRT range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 RRTConnectkConfigDefault: type: geometric::RRTConnect range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() RRTstarkConfigDefault: type: geometric::RRTstar range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 TRRTkConfigDefault: type: geometric::TRRT range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 max_states_failed: 10 # when to start increasing temp. default: 10 temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 init_temperature: 10e-6 # initial temperature. default: 10e-6 frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() PRMkConfigDefault: type: geometric::PRM max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 PRMstarkConfigDefault: type: geometric::PRMstar FMTkConfigDefault: type: geometric::FMT num_samples: 1000 # number of states that the planner should sample. default: 1000 radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 nearest_k: 1 # use Knearest strategy. default: 1 cache_cc: 1 # use collision checking cache. default: 1 heuristics: 0 # activate cost to go heuristics. default: 0 extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 BFMTkConfigDefault: type: geometric::BFMT num_samples: 1000 # number of states that the planner should sample. default: 1000 radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 nearest_k: 1 # use the Knearest strategy. default: 1 balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 heuristics: 1 # activates cost to go heuristics. default: 1 cache_cc: 1 # use the collision checking cache. default: 1 extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 PDSTkConfigDefault: type: geometric::PDST STRIDEkConfigDefault: type: geometric::STRIDE range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 max_degree: 18 # max degree of a node in the GNAT. default: 12 min_degree: 12 # min degree of a node in the GNAT. default: 12 max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 BiTRRTkConfigDefault: type: geometric::BiTRRT range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 init_temperature: 100 # initial temperature. default: 100 frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf LBTRRTkConfigDefault: type: geometric::LBTRRT range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 epsilon: 0.4 # optimality approximation factor. default: 0.4 BiESTkConfigDefault: type: geometric::BiEST range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() ProjESTkConfigDefault: type: geometric::ProjEST range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 LazyPRMkConfigDefault: type: geometric::LazyPRM range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() LazyPRMstarkConfigDefault: type: geometric::LazyPRMstar SPARSkConfigDefault: type: geometric::SPARS stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 max_failures: 1000 # maximum consecutive failure limit. default: 1000 SPARStwokConfigDefault: type: geometric::SPARStwo stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 max_failures: 5000 # maximum consecutive failure limit. default: 5000 TrajOptDefault: type: geometric::TrajOpt panda_arm: planner_configs: - SBLkConfigDefault - ESTkConfigDefault - LBKPIECEkConfigDefault - BKPIECEkConfigDefault - KPIECEkConfigDefault - RRTkConfigDefault - RRTConnectkConfigDefault - RRTstarkConfigDefault - TRRTkConfigDefault - PRMkConfigDefault - PRMstarkConfigDefault - FMTkConfigDefault - BFMTkConfigDefault - PDSTkConfigDefault - STRIDEkConfigDefault - BiTRRTkConfigDefault - LBTRRTkConfigDefault - BiESTkConfigDefault - ProjESTkConfigDefault - LazyPRMkConfigDefault - LazyPRMstarkConfigDefault - SPARSkConfigDefault - SPARStwokConfigDefault - TrajOptDefault