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18 lines
486 B
18 lines
486 B
planning_time_limit: 10.0
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max_iterations: 200
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max_iterations_after_collision_free: 5
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smoothness_cost_weight: 0.1
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obstacle_cost_weight: 1.0
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learning_rate: 0.01
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smoothness_cost_velocity: 0.0
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smoothness_cost_acceleration: 1.0
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smoothness_cost_jerk: 0.0
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ridge_factor: 0.01
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use_pseudo_inverse: false
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pseudo_inverse_ridge_factor: 1e-4
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joint_update_limit: 0.1
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collision_clearence: 0.2
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collision_threshold: 0.07
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use_stochastic_descent: true
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enable_failure_recovery: true
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max_recovery_attempts: 5
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