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sst.yaml
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sst.yaml
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sampling_pos_min_max: [[-7.0 , 7.0], #x
[-7.0 , 7.0], #y
[-7.0 , 7.0]] #z
sampling_vel_min_max: [[-10.0 , 10.0], #x
[-10.0 , 10.0], #y
[-10.0 , 10.0]] #z
#distance = pos_scale* pos_distance + att_scale * quat_distance + vel_scale * vel_distance + omega_scale * rate_distance
pos_scale: 1.0
att_scale: 15.0
vel_scale: 1.0
omega_scale: 1.0
#maximal distance in quaternions is 2.0!!!!!
logfile: results.log
randomize_p_around: 2.0
randomize_v_around: 5.0
randomize_w_around: 5.0
randomize_q_angle_around: 0.5
scale_randomization_goal_bias: 0.5
#1.0 value means the expansion of the tree is break if node.time + max_acc_time_to_gate > primitive.time
scale_tree_expansion_break_lowerbound: 1.5
reaching_gate_time_ratio_to_pmm: 1.05
# columns 0 specs begin
check_collisions: true
map: blender/random_columns.obj.npy
map_type: ESDF
min_clearance: 0.15
start:
position: [0.0, -6.0, 1.3]
velocity: [0 , 0 , 0]
end:
position: [0.0, 7.5 , 1.3]
velocity: [0 , 0 , 0]
gates: []
gates_orientations: [90, 90]
# columns 0 specs end
# arena spec begin
# check_collisions: true
# map: blender/arena_track_obstacles_multistory.obj.npy
# map_type: ESDF
# min_clearance: 0.15
# start:
# position: [-5.0,4.5,1.2]
# velocity: [0 , 0 , 0]
# end:
# position: [-6.0 , 0.0 , 1.0]
# velocity: [0 , 0 , 0]
# gates: [[ -0.66 , -1.36 , 3.9 ],
# [ 8.67 , 6.69 , 1.00 ],
# [ 9.2 , -3.6 , 1.00 ],
# [ -2.39 , -6.00 , 3.9 ],
# [ -2.39 , -6.23 , 1.00 ],
# [ 4.23 , -0.66 , 1.00 ],
# [ -2.66 , 6.66 , 1.00 ]]
# gates_orientations: [0, 0,-20,-126,-180,0,72,-160,-90]
# arena spec end
enforce_end_velocity: False
equalize_openlist_sizes: False
pos_tolerance_diameter: 0.6
end_vel_distance_tolerance: 4.0
goal_bias: 0.05
max_num_iterations: 2000000
max_num_iterations_wo_impr: 2000000
desired_num_reference_samples: 10000.0
rotation_sample_mult_ratio: 50.0
desired_dt: 0.004
#reference commands randomization
max_expand_time: 1.2
ref_time_deviation: 0.4 #time deviation of 1.0*reference of rotation and max-acc
ref_time_deviation_goal_bias: 0.05
rand_rotate_rotation_vector_ang: 0.2
rand_rotate_rotation_vector_ang_goal_bias: 0.05
max_dist_from_reference: 3.0
bias_start_from_previous_gate: 0.1 #how ofter to start from some of the nodes reaching
bias_use_reference_reach_gate_commands: 0.1 #how often to use the commands that reached the current gate
#distance where to search for the best node around the random created
dv: 1.30
#dv: 3.00
#distance considered for creation new witness
#ds: 1.50
ds: 0.50
#topological PRM Parameters
cutoof_distance_ratio_to_shortest: 1.05 #what is the ration of length compared to shortest, when paths are not considered
ellipse_ratio_major_axis_focal_length: 1.25 # ratio between length of 2 major axis and focal length
collision_distance_check: 0.02
num_samples_between_gate: 300