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"default": false, "title": "Validator Consider Footprint", "type": "boolean" }, "costmap_size_m": { "default": 20.0, "title": "Costmap Size M", "type": "number" }, "costmap_resolution": { "default": 0.1, "title": "Costmap Resolution", "type": "number" }, "inflation_radius_m": { "default": 0.55, "title": "Inflation Radius M", "type": "number" }, "inflation_cost_scaling_factor": { "default": 10.0, "title": "Inflation Cost Scaling Factor", "type": "number" }, "footprint_radius_padding_m": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "default": null, "title": "Footprint Radius Padding M" }, "progress_checker_enabled": { "default": true, "title": "Progress Checker Enabled", "type": "boolean" }, "progress_checker_required_movement_radius": { "default": 0.5, "title": "Progress Checker Required Movement Radius", "type": "number" }, "progress_checker_movement_time_allowance": { "default": 10.0, "title": "Progress Checker Movement Time Allowance", "type": "number" }, "progress_checker_required_movement_angle": { "default": 0.5, "title": "Progress Checker Required Movement Angle", "type": "number" }, "progress_checker_check_angle": { "default": false, "title": "Progress Checker Check Angle", "type": "boolean" }, "costmap_lidar_window_ticks": { "default": 30, "title": "Costmap Lidar Window Ticks", "type": "integer" }, "costmap_default_unknown": { "default": false, "title": "Costmap Default Unknown", "type": "boolean" }, "consider_unknown_as_lethal": { "default": false, "title": "Consider Unknown As Lethal", "type": "boolean" }, "costmap_origin_hysteresis_m": { "default": 0.0, "title": "Costmap Origin Hysteresis M", "type": "number" }, "costmap_lidar_max_points": { "default": 0, "title": "Costmap Lidar Max Points", "type": "integer" }, "footprint_clearing_enabled": { "default": true, "title": "Footprint Clearing Enabled", "type": "boolean" }, "footprint_clearing_margin_m": { "default": 0.03, "title": "Footprint Clearing Margin M", "type": "number" }, "footprint_clearing_z_max_m": { "default": 0.62, "title": "Footprint Clearing Z Max M", "type": "number" }, "stall_detector_enabled": { "default": true, "title": "Stall Detector Enabled", "type": "boolean" }, "stall_goal_blocked_threshold_ticks": { "default": 12, "title": "Stall Goal Blocked Threshold Ticks", "type": "integer" }, "stall_patience_seconds": { "default": 4.0, "title": "Stall Patience Seconds", "type": "number" }, "stall_progress_epsilon_m": { "default": 0.15, "title": "Stall Progress Epsilon M", "type": "number" }, "stall_progress_epsilon_rad": { "default": 0.0, "title": "Stall Progress Epsilon Rad", "type": "number" }, "rotation_shim_enabled": { "default": false, "title": "Rotation Shim Enabled", "type": "boolean" }, "rotation_shim_enter_rad": { "default": 0.75, "title": "Rotation Shim Enter Rad", "type": "number" }, "rotation_shim_exit_rad": { "default": 0.45, "title": "Rotation Shim Exit Rad", "type": "number" }, "rotation_shim_lookahead_m": { "default": 2.0, "title": "Rotation Shim Lookahead M", "type": "number" }, "rotation_shim_angular_gain": { "default": 1.2, "title": "Rotation Shim Angular Gain", "type": "number" }, "rotation_shim_min_w": { "default": 0.12, "title": "Rotation Shim Min W", "type": "number" }, "shim_stall_yield_ticks": { "default": 4, "title": "Shim Stall Yield Ticks", "type": "integer" }, "shim_reengage_clear_s": { "default": 1.0, "title": "Shim Reengage Clear S", "type": "number" } }, "title": "MPPIPipelineYAMLConfig", "type": "object" }, "Nav2CollisionMonitorConfig": { "additionalProperties": false, "properties": { "polygons": { "items": { "$ref": "#/$defs/Nav2CollisionPolygonConfig" }, "title": "Polygons", "type": "array" }, "processing_frequency_hz": { "default": 20.0, "title": "Processing Frequency Hz", "type": "number" }, "source_timeout": { "default": 2.0, "title": "Source Timeout", "type": "number" }, "base_shift_correction": { "default": true, "title": "Base Shift Correction", "type": "boolean" }, "cmd_vel_timeout": { "default": 0.5, "title": "Cmd Vel Timeout", "type": "number" }, "stop_pub_timeout": { "default": 1.0, "title": "Stop Pub Timeout", "type": "number" }, "use_realtime_priority": { "default": false, "title": "Use Realtime Priority", "type": "boolean" } }, "title": "Nav2CollisionMonitorConfig", "type": "object" }, "Nav2CollisionPolygonConfig": { "additionalProperties": false, "properties": { "name": { "default": "", "title": "Name", "type": "string" }, "enabled": { "default": true, "title": "Enabled", "type": "boolean" }, "type": { "default": "polygon", "title": "Type", "type": "string" }, "points": { "default": null, "title": "Points" }, "radius": { "default": 0.0, "title": "Radius", "type": "number" }, "action_type": { "default": "none", "title": "Action Type", "type": "string" }, "min_points": { "default": 4, "title": "Min Points", "type": "integer" }, "slowdown_ratio": { "default": 0.5, "title": "Slowdown Ratio", "type": "number" }, "linear_limit": { "default": 0.5, "title": "Linear Limit", "type": "number" }, "angular_limit": { "default": 0.5, "title": "Angular Limit", "type": "number" }, "time_before_collision": { "default": 2.0, "title": "Time Before Collision", "type": "number" }, "simulation_time_step": { "default": 0.1, "title": "Simulation Time Step", "type": "number" }, "holonomic": { "default": false, "title": "Holonomic", "type": "boolean" }, "trigger_consecutive_points": { "default": 1, "title": "Trigger Consecutive Points", "type": "integer" }, "release_consecutive_points": { "default": 1, "title": "Release Consecutive Points", "type": "integer" }, "use_robot_footprint": { "default": false, "title": "Use Robot Footprint", "type": "boolean" }, "velocity_polygons": { "items": { "$ref": "#/$defs/Nav2VelocitySubPolygonConfig" }, "title": "Velocity Polygons", "type": "array" } }, "title": "Nav2CollisionPolygonConfig", "type": "object" }, "Nav2VelocitySubPolygonConfig": { "additionalProperties": false, "properties": { "name": { "default": "", "title": "Name", "type": "string" }, "points": { "default": null, "title": "Points" }, "linear_min": { "default": 0.0, "title": "Linear Min", "type": "number" }, "linear_max": { "default": 0.0, "title": "Linear Max", "type": "number" }, "theta_min": { "default": 0.0, "title": "Theta Min", "type": "number" }, "theta_max": { "default": 0.0, "title": "Theta Max", "type": "number" }, "direction_start_angle": { "default": -3.141592653589793, "title": "Direction Start Angle", "type": "number" }, "direction_end_angle": { "default": 3.141592653589793, "title": "Direction End Angle", "type": "number" } }, "title": "Nav2VelocitySubPolygonConfig", "type": "object" }, "NavRuntimeConfig": { "additionalProperties": false, "description": "Controller choice and defaults for each mission; no live state or credentials.", "properties": { "backend": { "default": "mppi", "enum": [ "dwa", "mppi" ], "title": "Backend", "type": "string" }, "run_name": { "default": "nav", "title": "Run Name", "type": "string" }, "record": { "default": "default", "title": "Record", "type": "string" }, "enable_cloud_replan": { "default": false, "title": "Enable Cloud Replan", "type": "boolean" }, "cloud_replan_cooldown_s": { "default": 1.0, "minimum": 0, "title": "Cloud Replan Cooldown S", "type": "number" }, "cloud_replan_timeout_s": { "default": 1.0, "exclusiveMinimum": 0, "title": "Cloud Replan Timeout S", "type": "number" }, "stream_viz_grx": { "default": false, "title": "Stream Viz Grx", "type": "boolean" }, "stream_viz_port": { "anyOf": [ { "maximum": 65535, "minimum": 0, "type": "integer" }, { "type": "null" } ], "default": null, "title": "Stream Viz Port" } }, "title": "NavRuntimeConfig", "type": "object" }, "PoseGoalAlignConfig": { "additionalProperties": false, "description": "Per-robot pose-goal alignment surface (YAML block ``pose_align:``).\n\nConsumed ONLY when the active FINAL goal actually carries a yaw (a\nwaypoint dict with a ``yaw`` key / a benchmark layout goal-yaw): plain\nXY missions never touch the GoalChecker, so an enabled block is inert\nfor everything that exists today (bit-identity default).", "properties": { "yaw_tolerance_rad": { "default": -1.0, "title": "Yaw Tolerance Rad", "type": "number" }, "terminal_spin": { "default": false, "title": "Terminal Spin", "type": "boolean" }, "max_spin_attempts": { "default": 3, "title": "Max Spin Attempts", "type": "integer" }, "spin_min_rot_vel": { "default": -1.0, "title": "Spin Min Rot Vel", "type": "number" }, "spin_max_rot_vel": { "default": -1.0, "title": "Spin Max Rot Vel", "type": "number" }, "spin_acc_lim": { "default": -1.0, "title": "Spin Acc Lim", "type": "number" } }, "title": "PoseGoalAlignConfig", "type": "object" }, "RecoveryConfig": { "additionalProperties": false, "properties": { "mode": { "default": "adaptive", "title": "Mode", "type": "string" }, "max_per_waypoint": { "default": 4, "title": "Max Per Waypoint", "type": "integer" }, "blocked_rearm_sec": { "default": 5.0, "title": "Blocked Rearm Sec", "type": "number" }, "cooldown_ticks": { "anyOf": [ { "type": "integer" }, { "type": "null" } ], "default": null, "title": "Cooldown Ticks" }, "round_robin_preset": { "default": "nav2_faithful", "title": "Round Robin Preset", "type": "string" }, "schedule": { "items": {}, "title": "Schedule", "type": "array" }, "profile": { "$ref": "#/$defs/RecoveryProfileConfig" }, "escalation_distance_scale": { "default": 0.5, "title": "Escalation Distance Scale", "type": "number" }, "escalation_distance_cap_m": { "default": 0.6, "title": "Escalation Distance Cap M", "type": "number" } }, "title": "RecoveryConfig", "type": "object" }, "RecoveryProfileConfig": { "additionalProperties": false, "properties": { "enabled": { "default": true, "title": "Enabled", "type": "boolean" }, "backup_speed_mps": { "default": 0.15, "title": "Backup Speed Mps", "type": "number" }, "backup_distance_scale": { "default": 1.0, "title": "Backup Distance Scale", "type": "number" }, "max_backup_m": { "default": 0.6, "title": "Max Backup M", "type": "number" }, "first_backup_distance_m": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "default": null, "title": "First Backup Distance M" }, "allow_reverse_arc": { "default": true, "title": "Allow Reverse Arc", "type": "boolean" }, "allow_spin": { "default": true, "title": "Allow Spin", "type": "boolean" }, "spin_target_rad": { "default": 1.5708, "title": "Spin Target Rad", "type": "number" }, "wait_duration_s": { "default": 5.0, "title": "Wait Duration S", "type": "number" }, "alternate_side_bias": { "default": 0.1, "title": "Alternate Side Bias", "type": "number" }, "backup_before_spin": { "default": false, "title": "Backup Before Spin", "type": "boolean" }, "straight_first_backup": { "default": false, "title": "Straight First Backup", "type": "boolean" }, "opposite_spin_after_blocked_backup": { "default": true, "title": "Opposite Spin After Blocked Backup", "type": "boolean" }, "spin_direction_from_context": { "default": false, "title": "Spin Direction From Context", "type": "boolean" }, "reset_controller_between_actions": { "default": false, "title": "Reset Controller Between Actions", "type": "boolean" }, "reset_rearm_success_ticks": { "default": 1, "title": "Reset Rearm Success Ticks", "type": "integer" }, "adaptive_goals": { "default": false, "title": "Adaptive Goals", "type": "boolean" }, "adaptive_backup_min_m": { "default": 0.15, "title": "Adaptive Backup Min M", "type": "number" }, "adaptive_costmap_stale_s": { "default": 0.5, "title": "Adaptive Costmap Stale S", "type": "number" }, "adaptive_spin_clearance_m": { "default": 1.0, "title": "Adaptive Spin Clearance M", "type": "number" }, "adaptive_spin_samples": { "default": 25, "title": "Adaptive Spin Samples", "type": "integer" }, "breakthrough_valid_fraction": { "default": 0.15, "title": "Breakthrough Valid Fraction", "type": "number" }, "separating_enabled": { "default": false, "title": "Separating Enabled", "type": "boolean" }, "separating_holonomic": { "default": false, "title": "Separating Holonomic", "type": "boolean" }, "separating_distance_m": { "default": 0.25, "title": "Separating Distance M", "type": "number" }, "separating_speed_mps": { "default": 0.2, "title": "Separating Speed Mps", "type": "number" }, "separating_angular_speed_radps": { "default": 0.3, "title": "Separating Angular Speed Radps", "type": "number" }, "separating_candidate_checks": { "default": 12, "title": "Separating Candidate Checks", "type": "integer" }, "separating_time_allowance_s": { "default": 4.0, "title": "Separating Time Allowance S", "type": "number" } }, "title": "RecoveryProfileConfig", "type": "object" }, "RobotAdaptationConfig": { "additionalProperties": false, "description": "Opt-in, per-robot make-it-work isolation layer (YAML block\n``robot_adaptation:``). Every field defaults OFF/None so R1Pro (which\ntracks commands well) runs the FAITHFUL Nav2 path with no adaptation.\n\nThis is the seam where a robot's embodiment quirks are patched WITHOUT\ncontaminating the faithful baseline: G1's gait deadband / creep floor /\nvelocity-source substitution slot in here later. Do NOT populate for\nR1Pro. Leaving it empty is the whole point \u2014 a reviewer can see at a\nglance that R1Pro deviates from stock Nav2 in exactly zero places.", "properties": { "velocity_source": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "default": null, "title": "Velocity Source" }, "creep_floor_mps": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "default": null, "title": "Creep Floor Mps" }, "planar_gate_threshold_mps": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "default": null, "title": "Planar Gate Threshold Mps" }, "yaw_gate_threshold_radps": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "default": null, "title": "Yaw Gate Threshold Radps" }, "reverse_scale": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "default": null, "title": "Reverse Scale" }, "pivot_arc_speed_mps": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "default": null, "title": "Pivot Arc Speed Mps" }, "pivot_angular_threshold_radps": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "default": null, "title": "Pivot Angular Threshold Radps" }, "band_overrides": { "anyOf": [ { "additionalProperties": true, "type": "object" }, { "type": "null" } ], "default": null, "title": "Band Overrides" } }, "title": "RobotAdaptationConfig", "type": "object" }, "RobotConfig": { "additionalProperties": false, "properties": { "robot_type": { "default": "vision60", "title": "Robot Type", "type": "string" }, "camera_name": { "default": "front_left", "title": "Camera Name", "type": "string" }, "query_intrinsics": { "items": {}, "title": "Query Intrinsics", "type": "array" }, "query_image_size": { "items": {}, "title": "Query Image Size", "type": "array" }, "query_resolution": { "items": {}, "title": "Query Resolution", "type": "array" }, "wide_camera_calibration_path": { "default": "", "title": "Wide Camera Calibration Path", "type": "string" }, "undistort_query": { "default": false, "title": "Undistort Query", "type": "boolean" }, "query_distortion_model": { "default": "rational_polynomial", "title": "Query Distortion Model", "type": "string" }, "query_distortion": { "items": {}, "title": "Query Distortion", "type": "array" }, "T_body_camera": { "items": {}, "title": "T Body Camera", "type": "array" }, "T_body_lidar": { "items": {}, "title": "T Body Lidar", "type": "array" }, "lidar_points_in_base_link": { "default": false, "title": "Lidar Points In Base Link", "type": "boolean" }, "transform_lidar_to_body": { "default": false, "title": "Transform Lidar To Body", "type": "boolean" }, "enable_walking": { "default": false, "title": "Enable Walking", "type": "boolean" }, "odom_has_velocity": { "default": true, "title": "Odom Has Velocity", "type": "boolean" } }, "title": "RobotConfig", "type": "object" }, "RobotGeometryConfig": { "additionalProperties": false, "properties": { "inscribed_radius_m": { "default": 0.285, "title": "Inscribed Radius M", "type": "number" }, "footprint_padding_m": { "default": 0.05, "title": "Footprint Padding M", "type": "number" }, "circumscribed_radius_m": { "default": 0.335, "title": "Circumscribed Radius M", "type": "number" }, "self_hit_min_range_m": { "default": 0.4, "title": "Self Hit Min Range M", "type": "number" }, "front_bumper_offset_m": { "default": 0.1, "title": "Front Bumper Offset M", "type": "number" }, "rear_bumper_offset_m": { "default": 0.1, "title": "Rear Bumper Offset M", "type": "number" }, "footprint_polygon": { "default": null, "title": "Footprint Polygon" }, "footprint_turn_dilation_m_per_radps": { "default": 0.0, "title": "Footprint Turn Dilation M Per Radps", "type": "number" }, "inflation_radius_m": { "default": -1.0, "title": "Inflation Radius M", "type": "number" }, "gait_deadband_mps": { "default": 0.0, "title": "Gait Deadband Mps", "type": "number" }, "self_mask_model_path": { "default": "", "title": "Self Mask Model Path", "type": "string" }, "articulated_projection_model_path": { "default": "", "title": "Articulated Projection Model Path", "type": "string" }, "articulated_planner_clearance_m": { "default": 0.15, "title": "Articulated Planner Clearance M", "type": "number" }, "articulated_joint_motion_horizon_s": { "default": 0.75, "title": "Articulated Joint Motion Horizon S", "type": "number" }, "articulated_maximum_joint_motion_inflation_m": { "default": 0.15, "title": "Articulated Maximum Joint Motion Inflation M", "type": "number" }, "articulated_stationary_joint_speed_tolerance": { "default": 0.001, "title": "Articulated Stationary Joint Speed Tolerance", "type": "number" }, "articulated_predictive_envelope_enabled": { "default": false, "title": "Articulated Predictive Envelope Enabled", "type": "boolean" }, "articulated_predictive_history_s": { "default": 2.0, "title": "Articulated Predictive History S", "type": "number" }, "articulated_predictive_start_step": { "default": 0, "title": "Articulated Predictive Start Step", "type": "integer" }, "articulated_joint_position_overrides": { "default": null, "title": "Articulated Joint Position Overrides" } }, "title": "RobotGeometryConfig", "type": "object" }, "SafetyGateConfig": { "additionalProperties": false, "properties": { "enabled": { "default": true, "title": "Enabled", "type": "boolean" }, "mode": { "default": "gate", "title": "Mode", "type": "string" }, "nav2": { "$ref": "#/$defs/Nav2CollisionMonitorConfig" }, "separating_allowance": { "$ref": "#/$defs/SeparatingAllowanceConfig" }, "self_hit_min_range_m": { "title": "Self Hit Min Range M", "type": "number" }, "front_stop_m": { "default": 0.3, "title": "Front Stop M", "type": "number" }, "front_stop_min_m": { "default": 0.0, "title": "Front Stop Min M", "type": "number" }, "front_stop_react_s": { "default": 0.35, "title": "Front Stop React S", "type": "number" }, "front_slow_m": { "default": 0.85, "title": "Front Slow M", "type": "number" }, "front_half_width_m": { "default": 0.45, "title": "Front Half Width M", "type": "number" }, "stop_core_half_width_frac": { "default": 0.8, "title": "Stop Core Half Width Frac", "type": "number" }, "front_bumper_offset_m": { "default": 0.22, "title": "Front Bumper Offset M", "type": "number" }, "front_turn_sweep_half_width_m": { "default": 0.75, "title": "Front Turn Sweep Half Width M", "type": "number" }, "front_turn_stop_w_radps": { "default": 0.12, "title": "Front Turn Stop W Radps", "type": "number" }, "front_turn_sweep_q": { "default": 0.15, "title": "Front Turn Sweep Q", "type": "number" }, "front_turn_sweep_min_points": { "default": 8, "title": "Front Turn Sweep Min Points", "type": "integer" }, "front_turn_slow_m": { "default": 0.45, "title": "Front Turn Slow M", "type": "number" }, "near_front_mtf_soft_band_m": { "default": 0.22, "title": "Near Front Mtf Soft Band M", "type": "number" }, "near_front_mtf_min_scale": { "default": 0.35, "title": "Near Front Mtf Min Scale", "type": "number" }, "rear_stop_m": { "default": 0.3, "title": "Rear Stop M", "type": "number" }, "rear_half_width_m": { "default": 0.35, "title": "Rear Half Width M", "type": "number" }, "rear_bumper_offset_m": { "default": 0.22, "title": "Rear Bumper Offset M", "type": "number" }, "rear_slow_band_m": { "default": 0.35, "title": "Rear Slow Band M", "type": "number" }, "rear_turn_sweep_half_width_m": { "default": 0.75, "title": "Rear Turn Sweep Half Width M", "type": "number" }, "rear_turn_stop_w_radps": { "default": 0.12, "title": "Rear Turn Stop W Radps", "type": "number" }, "rear_turn_sweep_q": { "default": 0.15, "title": "Rear Turn Sweep Q", "type": "number" }, "rear_turn_sweep_min_points": { "default": 8, "title": "Rear Turn Sweep Min Points", "type": "integer" }, "coordinated_vw_scaling": { "default": true, "title": "Coordinated Vw Scaling", "type": "boolean" }, "coordinated_vw_min_scale": { "default": 0.4, "title": "Coordinated Vw Min Scale", "type": "number" }, "lidar_max_points": { "default": 0, "title": "Lidar Max Points", "type": "integer" }, "walk_init_threshold_mps": { "default": 0.0, "title": "Walk Init Threshold Mps", "type": "number" }, "predictive_enabled": { "default": false, "title": "Predictive Enabled", "type": "boolean" }, "predictive_horizon_s": { "default": 0.8, "title": "Predictive Horizon S", "type": "number" }, "predictive_dt_s": { "default": 0.1, "title": "Predictive Dt S", "type": "number" }, "predictive_front_extent_m": { "default": 0.3, "title": "Predictive Front Extent M", "type": "number" }, "predictive_rear_extent_m": { "default": 0.25, "title": "Predictive Rear Extent M", "type": "number" }, "predictive_half_width_m": { "default": 0.3, "title": "Predictive Half Width M", "type": "number" }, "predictive_margin_m": { "default": 0.03, "title": "Predictive Margin M", "type": "number" }, "predictive_min_points": { "default": 1, "title": "Predictive Min Points", "type": "integer" }, "barrier_enabled": { "default": false, "title": "Barrier Enabled", "type": "boolean" }, "barrier_a_brake_mps2": { "default": 0.6, "title": "Barrier A Brake Mps2", "type": "number" }, "barrier_margin_m": { "default": 0.05, "title": "Barrier Margin M", "type": "number" }, "barrier_hw_base_m": { "default": 0.26, "title": "Barrier Hw Base M", "type": "number" }, "barrier_hw_turn_gain_m_per_radps": { "default": 0.08, "title": "Barrier Hw Turn Gain M Per Radps", "type": "number" }, "barrier_front_extent_m": { "default": 0.28, "title": "Barrier Front Extent M", "type": "number" }, "barrier_rear_extent_m": { "default": 0.25, "title": "Barrier Rear Extent M", "type": "number" }, "barrier_horizon_s": { "default": 1.5, "title": "Barrier Horizon S", "type": "number" }, "barrier_dt_s": { "default": 0.05, "title": "Barrier Dt S", "type": "number" }, "barrier_block_floor_mps": { "default": 0.1, "title": "Barrier Block Floor Mps", "type": "number" }, "barrier_self_hit_min_range_m": { "default": -1.0, "title": "Barrier Self Hit Min Range M", "type": "number" }, "barrier_rot_radius_m": { "default": -1.0, "title": "Barrier Rot Radius M", "type": "number" }, "barrier_footprint_polygon": { "default": null, "title": "Barrier Footprint Polygon" } }, "title": "SafetyGateConfig", "type": "object" }, "SelfMaskConfig": { "additionalProperties": false, "properties": { "mode": { "default": "radial", "title": "Mode", "type": "string" }, "model_path": { "default": "", "title": "Model Path", "type": "string" }, "margin_m": { "default": 0.02, "title": "Margin M", "type": "number" }, "velocity_margin_s": { "default": 0.05, "title": "Velocity Margin S", "type": "number" }, "graft_band_m": { "default": 0.0, "title": "Graft Band M", "type": "number" }, "graft_max_cluster": { "default": 25, "title": "Graft Max Cluster", "type": "integer" }, "graft_band_gripper_m": { "default": 0.0, "title": "Graft Band Gripper M", "type": "number" }, "joint_indices": { "items": {}, "title": "Joint Indices", "type": "array" }, "joint_groups": { "items": {}, "title": "Joint Groups", "type": "array" }, "joint_group_slots": { "additionalProperties": true, "title": "Joint Group Slots", "type": "object" } }, "title": "SelfMaskConfig", "type": "object" }, "SeparatingAllowanceConfig": { "additionalProperties": false, "properties": { "enabled": { "default": false, "title": "Enabled", "type": "boolean" }, "mode": { "default": "shadow", "title": "Mode", "type": "string" } }, "title": "SeparatingAllowanceConfig", "type": "object" }, "StuckDetectorConfig": { "additionalProperties": false, "properties": { "stuck_timeout_sec": { "default": 20.0, "title": "Stuck Timeout Sec", "type": "number" }, "stuck_progress_epsilon_m": { "default": 0.15, "title": "Stuck Progress Epsilon M", "type": "number" }, "stuck_progress_epsilon_rad": { "default": 0.0, "title": "Stuck Progress Epsilon Rad", "type": "number" }, "osc_window_steps": { "default": 40, "title": "Osc Window Steps", "type": "integer" }, "osc_dist_progress_cap_m": { "default": 0.12, "title": "Osc Dist Progress Cap M", "type": "number" }, "front_constraint_progress_cap_m": { "default": 0.1, "title": "Front Constraint Progress Cap M", "type": "number" }, "recovery_rearm_min_no_progress_sec": { "default": 6.0, "title": "Recovery Rearm Min No Progress Sec", "type": "number" }, "recovery_rearm_divergence_m": { "default": 0.18, "title": "Recovery Rearm Divergence M", "type": "number" }, "recovery_rearm_max_per_waypoint": { "default": 1, "title": "Recovery Rearm Max Per Waypoint", "type": "integer" } }, "title": "StuckDetectorConfig", "type": "object" }, "VelocitySmootherConfig": { "additionalProperties": false, "properties": { "enabled": { "default": false, "title": "Enabled", "type": "boolean" }, "mode": { "default": "legacy", "title": "Mode", "type": "string" }, "max_dv_accel": { "default": 1.0, "title": "Max Dv Accel", "type": "number" }, "max_dv_decel": { "default": 2.0, "title": "Max Dv Decel", "type": "number" }, "max_dw": { "default": 3.0, "title": "Max Dw", "type": "number" }, "max_dvy": { "default": 0.0, "title": "Max Dvy", "type": "number" }, "smoothing_frequency": { "default": 0.0, "title": "Smoothing Frequency", "type": "number" }, "scale_velocities": { "default": false, "title": "Scale Velocities", "type": "boolean" }, "feedback": { "default": "OPEN_LOOP", "title": "Feedback", "type": "string" }, "max_velocity": { "items": { "type": "number" }, "title": "Max Velocity", "type": "array" }, "min_velocity": { "items": { "type": "number" }, "title": "Min Velocity", "type": "array" }, "deadband_velocity": { "items": { "type": "number" }, "title": "Deadband Velocity", "type": "array" }, "velocity_timeout": { "default": 1.0, "title": "Velocity Timeout", "type": "number" }, "max_accel": { "items": { "type": "number" }, "title": "Max Accel", "type": "array" }, "max_decel": { "items": { "type": "number" }, "title": "Max Decel", "type": "array" } }, "title": "VelocitySmootherConfig", "type": "object" } }, "additionalProperties": false, "properties": { "max_linear_vel": { "default": 0.35, "title": "Max Linear Vel", "type": "number" }, "max_angular_vel": { "default": 0.2, "title": "Max Angular Vel", "type": "number" }, "min_turn_forward": { "default": 0.02, "title": "Min Turn Forward", "type": "number" }, "controller_failure_tolerance_s": { "default": 0.0, "title": "Controller Failure Tolerance S", "type": "number" }, "control_hz": { "default": 10.0, "title": "Control Hz", "type": "number" }, "diag_export_hz": { "default": 3.0, "title": "Diag Export Hz", "type": "number" }, "hloc_hz": { "default": 1.0, "title": "Hloc Hz", "type": "number" }, "intermediate_threshold_m": { "default": 1.5, "title": "Intermediate Threshold M", "type": "number" }, "final_threshold_m": { "default": 1.0, "title": "Final Threshold M", "type": "number" }, "max_steps": { "default": 10000, "title": "Max Steps", "type": "integer" }, "async_odom_hz": { "default": 40.0, "title": "Async Odom Hz", "type": "number" }, "async_lidar_hz": { "default": 20.0, "title": "Async Lidar Hz", "type": "number" }, "async_lidar_control_reserve_s": { "default": 0.0, "title": "Async Lidar Control Reserve S", "type": "number" }, "safety": { "$ref": "#/$defs/SafetyGateConfig" }, "lidar_filter": { "$ref": "#/$defs/LidarFilterConfig" }, "dwa": { "$ref": "#/$defs/DWAConfig" }, "stuck": { "$ref": "#/$defs/StuckDetectorConfig" }, "recovery": { "$ref": "#/$defs/RecoveryConfig" }, "pose_align": { "$ref": "#/$defs/PoseGoalAlignConfig" }, "velocity_smoother": { "$ref": "#/$defs/VelocitySmootherConfig" }, "dwa_pipeline": { "$ref": "#/$defs/DWAPipelineYAMLConfig" }, "mppi_pipeline": { "$ref": "#/$defs/MPPIPipelineYAMLConfig" }, "escape_fallback": { "$ref": "#/$defs/EscapeFallbackConfig" }, "robot_geometry": { "$ref": "#/$defs/RobotGeometryConfig" }, "robot_adaptation": { "$ref": "#/$defs/RobotAdaptationConfig" }, "runtime": { "$ref": "#/$defs/NavRuntimeConfig" }, "robot": { "$ref": "#/$defs/RobotConfig" }, "localization": { "$ref": "#/$defs/LocalizationConfig" }, "self_mask": { "$ref": "#/$defs/SelfMaskConfig" }, "benchmark": { "$ref": "#/$defs/BenchmarkConfig" }, "self_exclusion_m": { "default": 0.0, "title": "Self Exclusion M", "type": "number" }, "planner_exclusion_m": { "default": 0.0, "title": "Planner Exclusion M", "type": "number" }, "self_exclusion_box_m": { "items": {}, "title": "Self Exclusion Box M", "type": "array" } }, "title": "NavigationConfig", "type": "object" }