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rickertmrickertm
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Update goal probability in RrtCon definitions
1 parent 02ffc3f commit 1b330c0

14 files changed

+72
-13
lines changed

‎rlplan/1enu_rrtCon.xml

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<epsilon>1e-9</epsilon>
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<gnatNearestNeighbors/>
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<uniformSampler/>
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<probability>0.25</probability>
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<probability>0.05</probability>
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</rrtCon>
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</rlplan>

‎rlplan/box-6d-151515_maze_rrtCon.xml

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@@ -36,6 +36,6 @@
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<epsilon>1e-9</epsilon>
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<gnatNearestNeighbors/>
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<uniformSampler/>
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<probability>0.25</probability>
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<probability>0.05</probability>
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</rrtCon>
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</rlplan>

‎rlplan/box-6d-300505_maze_rrtCon.xml

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@@ -36,6 +36,6 @@
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<epsilon>1e-9</epsilon>
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<gnatNearestNeighbors/>
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<uniformSampler/>
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<probability>0.25</probability>
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<probability>0.05</probability>
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</rrtCon>
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</rlplan>

‎rlplan/cubicles_rrtCon.xml

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<?xml version="1.0" encoding="UTF-8"?>
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<rlplan xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="rlplan.xsd">
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<rrtCon>
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<duration>1200</duration>
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<goal>
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<q>200.0</q>
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<q>-70.57</q>
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<q>-40.62</q>
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<q unit="deg">90</q>
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<q unit="deg">0</q>
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<q unit="deg">0</q>
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</goal>
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<model>
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<kinematics href="../rlkin/cubicles.xml"/>
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<model>0</model>
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<scene href="../rlsg/cubicles.xml"/>
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</model>
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<start>
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<q>-4.96</q>
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<q>-70.57</q>
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<q>-40.62</q>
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<q unit="deg">90</q>
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<q unit="deg">0</q>
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<q unit="deg">0</q>
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</start>
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<viewer>
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<camera>
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<position>
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<x>-94.63</x>
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<y>-1250</y>
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<z>150.87</z>
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</position>
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<scale>1</scale>
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<target>
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<x>-94.63</x>
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<y>0</y>
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<z>150.87</z>
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</target>
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<up>
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<x>0</x>
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<y>0</y>
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<z>1</z>
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</up>
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</camera>
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<delta>1</delta>
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<model>
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<kinematics href="../rlkin/cubicles.xml"/>
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<model>0</model>
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<scene href="../rlsg/cubicles.xml"/>
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</model>
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<swept>100</swept>
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</viewer>
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<delta>1</delta>
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<epsilon>1</epsilon>
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<gnatNearestNeighbors/>
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<uniformSampler/>
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<probability>0.05</probability>
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</rrtCon>
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</rlplan>

‎rlplan/double-lshape-6d_two-walls_rrtCon.xml

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@@ -54,6 +54,6 @@
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<epsilon>1e-9</epsilon>
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<gnatNearestNeighbors/>
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<uniformSampler/>
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<probability>0.25</probability>
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<probability>0.05</probability>
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</rrtCon>
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</rlplan>

‎rlplan/double-lshape-6d_wall_rrtCon.xml

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@@ -54,6 +54,6 @@
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<epsilon>1e-9</epsilon>
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<gnatNearestNeighbors/>
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<uniformSampler/>
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<probability>0.25</probability>
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<probability>0.05</probability>
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</rrtCon>
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</rlplan>

‎rlplan/jahir_rrtCon.xml

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@@ -81,6 +81,6 @@
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<epsilon>1e-9</epsilon>
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<kdtreeNearestNeighbors/>
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<uniformSampler/>
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<probability>0.25</probability>
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<probability>0.05</probability>
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</rrtCon>
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</rlplan>

‎rlplan/mitsubishi-rv6sl_beam_rrtCon.xml

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@@ -80,6 +80,6 @@
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<epsilon>1e-9</epsilon>
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<kdtreeNearestNeighbors/>
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<uniformSampler/>
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<probability>0.25</probability>
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<probability>0.05</probability>
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</rrtCon>
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</rlplan>

‎rlplan/mitsubishi-rv6sl_wall_rrtCon.xml

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@@ -80,6 +80,6 @@
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<epsilon>1e-9</epsilon>
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<kdtreeNearestNeighbors/>
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<uniformSampler/>
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<probability>0.25</probability>
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<probability>0.05</probability>
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</rrtCon>
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</rlplan>

‎rlplan/piano_room_rrtCon.xml

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@@ -36,6 +36,6 @@
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<epsilon>1e-9</epsilon>
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<gnatNearestNeighbors/>
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<uniformSampler/>
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<probability>0.25</probability>
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<probability>0.05</probability>
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</rrtCon>
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</rlplan>

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