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## documentation and any modifications thereto. Any use, reproduction,
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##
model:
  horizon: 1
  state_filter_cfg:
    filter_coeff:
      position: 1.0
      velocity: 1.0
      acceleration: 0.0
    enable: True
  dt_traj_params:
    base_dt: 0.02
    base_ratio: 1.0
    max_dt: 0.02
  vel_scale: 1.0
  control_space: 'POSITION'
  teleport_mode: True
  state_finite_difference_mode: "CENTRAL"



graph:
  max_nodes: 5000 # node list
  steer_delta_buffer: 500 # for steering
  sample_pts: 1500
  node_similarity_distance: 0.1
  
  rejection_ratio: 20 
  k_nn: 15
  max_buffer: 10000
  max_cg_buffer: 1000
  vertex_n : 30

  graph_max_attempts: 10
  graph_min_attempts: 1 
  init_nodes: 30

  c_max: 1.25
  use_bias_node: True
  compute_metrics: False
  interpolation_steps: 1000
  interpolation_type: "linear"
  seed: 0
  interpolation_deviation: 0.05
  interpolation_acceleration_scale: 0.25