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- planning_time_limit: 10.0
- max_iterations: 200
- max_iterations_after_collision_free: 5
- smoothness_cost_weight: 0.1
- obstacle_cost_weight: 1.0
- learning_rate: 0.01
- smoothness_cost_velocity: 0.0
- smoothness_cost_acceleration: 1.0
- smoothness_cost_jerk: 0.0
- ridge_factor: 0.0
- use_pseudo_inverse: false
- pseudo_inverse_ridge_factor: 1e-4
- joint_update_limit: 0.1
- collision_clearance: 0.2
- collision_threshold: 0.07
- use_stochastic_descent: true
- enable_failure_recovery: false
- max_recovery_attempts: 5
- trajectory_initialization_method: "fillTrajectory"
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