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 expression. default: 0.0 set in setup()
  PRMkConfigDefault:
    type: geometric::PRM
    max_nearest_neighbors: 10  # use k nearest neighbors. default: 10
  PRMstarkConfigDefault:
    type: geometric::PRMstar
ur_manipulator:
  planner_configs:
    - SBLkConfigDefault
    - ESTkConfigDefault
    - LBKPIECEkConfigDefault
    - BKPIECEkConfigDefault
    - KPIECEkConfigDefault
    - RRTkConfigDefault
    - RRTConnectkConfigDefault
    - RRTstarkConfigDefault
    - TRRTkConfigDefault
    - PRMkConfigDefault
    - PRMstarkConfigDefault
  ##Note: commenting the following line lets moveit chose RRTConnect as default planner rather than LBKPIECE
  #projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
  longest_valid_segment_fraction: 0.01
