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planner_configs.yaml
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planner_selects: [all, Cano_etal, Burger_etal]
modes: [all, default, ompl, tpe, rand, smac, aucbandit, gp, rf, et, gbrt]
planners: [all, BKPIECE, RRTConnect, KPIECE, BiTRRT]
scenes: [narrow_passage]
named_states: [vertical, backbend, resting, low_fwd_reach,
pose1, pose2, pose3, pose4, pose5, pose6, pose7, pose8,
pose9, pose10, pose11, pose12, pose13, pose14]
planner_configs_Cano_etal_tune:
RRTConnectkConfigDefault:
type: geometric::RRTConnect
#[begin_range, end_range, step]
default: [0.1, 2.0, 0.1] # Max steering distance
BKPIECEkConfigDefault:
type: geometric::BKPIECE
#[begin_range, end_range, step]
range: [0.1, 2.0, 0.1] # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
border_fraction: [0.05, 1.0, 0.05] # Fraction of time focused on boarder default: 0.9
failed_expansion_score_factor: [0.05, 1.0, 0.05] # When extending motion fails, scale score by factor. default: 0.5
min_valid_path_fraction: [0.05, 1.0, 0.05] # Accept partially valid moves above fraction. default: 0.5
projection_evaluator: joints(crane_plus_shoulder_revolute_joint, crane_plus_wrist_joint)
longest_valid_segment_fraction: 0.005
planner_configs_Cano_etal_default:
RRTConnectkConfigDefault:
type: geometric::RRTConnect
default: 1.0 # Max steering distance default: 0.0
BKPIECEkConfigDefault:
type: geometric::BKPIECE
range: 1.0 # Max steering distance default: 0.0
border_fraction: 0.5 # 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
projection_evaluator: joints(crane_plus_shoulder_revolute_joint, crane_plus_wrist_joint)
longest_valid_segment_fraction: 0.005
planner_configs_Burger_etal_tune:
RRTConnectkConfigDefault:
type: geometric::RRTConnect
range: [0.1, 15.0] # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
BiTRRTkConfigDefault:
type: geometric::BiTRRT
range: [0.1, 15.0] # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
temp_change_factor: [0, 1.0] # how much to increase or decrease temp. default: 0.1
init_temperature: [0, 0.001] # initial temperature. default: 100
frountier_threshold: [0, 1.0] # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
frountier_node_ratio: [0, 1.0] # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
cost_threshold: [0,100000] # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
BKPIECEkConfigDefault:
type: geometric::BKPIECE
range: [0.1, 15.0] # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
border_fraction: [0, 1.0] # Fraction of time focused on boarder default: 0.9
failed_expansion_score_factor: [0, 1.0] # When extending motion fails, scale score by factor. default: 0.5
min_valid_path_fraction: [0, 1.0] # Accept partially valid moves above fraction. default: 0.5
projection_evaluator: joints(crane_plus_shoulder_revolute_joint, crane_plus_wrist_joint)
longest_valid_segment_fraction: 0.005
KPIECEkConfigDefault:
type: geometric::KPIECE
range: [0.1, 15] # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: [0, 1.0] # When close to goal select goal, with this probability. default: 0.05
border_fraction: [0, 1.0] # Fraction of time focused on boarder default: 0.9 (0.0,1.]
failed_expansion_score_factor: [0, 1.0] # When extending motion fails, scale score by factor. default: 0.5
min_valid_path_fraction: [0, 1.0] # Accept partially valid moves above fraction. default: 0.5
projection_evaluator: joints(crane_plus_shoulder_revolute_joint, crane_plus_wrist_joint)
longest_valid_segment_fraction: 0.005
planner_configs_Burger_etal_default:
RRTConnectkConfigDefault:
type: geometric::RRTConnect
range: 5.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
BiTRRTkConfigDefault:
type: geometric::BiTRRT
range: 5.0 # 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: 0.000001 # initial temperature. default: 100
frountier_threshold: 0.4 # 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: 100000 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
BKPIECEkConfigDefault:
type: geometric::BKPIECE
range: 0.8 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
border_fraction: 0.55 # Fraction of time focused on boarder default: 0.9
failed_expansion_score_factor: 0.684 # When extending motion fails, scale score by factor. default: 0.5
min_valid_path_fraction: 0.139 # Accept partially valid moves above fraction. default: 0.5
projection_evaluator: joints(crane_plus_shoulder_revolute_joint, crane_plus_wrist_joint)
longest_valid_segment_fraction: 0.005
KPIECEkConfigDefault:
type: geometric::KPIECE
range: 7.2 # 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
projection_evaluator: joints(crane_plus_shoulder_revolute_joint, crane_plus_wrist_joint)
longest_valid_segment_fraction: 0.005