# Complete resolved R1Pro omni example; use your installed profile for your robot.
max_linear_vel: 0.4
max_angular_vel: 0.5
min_turn_forward: 0.02
controller_failure_tolerance_s: 0.3
control_hz: 10.0
diag_export_hz: 3.0
hloc_hz: 0.5
intermediate_threshold_m: 1.5
final_threshold_m: 0.5
max_steps: 10000
async_odom_hz: 40.0
async_lidar_hz: 10.0
async_lidar_control_reserve_s: 0.05
safety:
  enabled: true
  mode: nav2
  nav2:
    polygons:
    - name: stop_footprint
      enabled: true
      type: polygon
      points:
      - - -0.42000000000000004
        - -0.1751211603274303
      - - -0.3713842168304986
        - -0.2108537609570138
      - - -0.14593227700200836
        - -0.35750000000000004
      - - 0.275
        - -0.35750000000000004
      - - 0.275
        - 0.35750000000000004
      - - -0.14593227700200836
        - 0.35750000000000004
      - - -0.3713842168304986
        - 0.2108537609570138
      - - -0.42000000000000004
        - 0.1751211603274303
      radius: 0.0
      action_type: stop
      min_points: 12
      slowdown_ratio: 0.5
      linear_limit: 0.5
      angular_limit: 0.5
      time_before_collision: 2.0
      simulation_time_step: 0.1
      holonomic: false
      trigger_consecutive_points: 1
      release_consecutive_points: 1
      use_robot_footprint: true
      velocity_polygons: []
    - name: slowdown_margin
      enabled: true
      type: polygon
      points:
      - - 0.145
        - 0.28
      - - -0.2
        - 0.28
      - - -0.2
        - -0.29
      - - 0.145
        - -0.29
      radius: 0.0
      action_type: slowdown
      min_points: 4
      slowdown_ratio: 0.5
      linear_limit: 0.5
      angular_limit: 0.5
      time_before_collision: 2.0
      simulation_time_step: 0.1
      holonomic: false
      trigger_consecutive_points: 1
      release_consecutive_points: 1
      use_robot_footprint: false
      velocity_polygons: []
    - name: approach_footprint
      enabled: true
      type: polygon
      points:
      - - -0.42000000000000004
        - -0.1751211603274303
      - - -0.3713842168304986
        - -0.2108537609570138
      - - -0.14593227700200836
        - -0.35750000000000004
      - - 0.275
        - -0.35750000000000004
      - - 0.275
        - 0.35750000000000004
      - - -0.14593227700200836
        - 0.35750000000000004
      - - -0.3713842168304986
        - 0.2108537609570138
      - - -0.42000000000000004
        - 0.1751211603274303
      radius: 0.0
      action_type: approach
      min_points: 4
      slowdown_ratio: 0.5
      linear_limit: 0.5
      angular_limit: 0.5
      time_before_collision: 1.0
      simulation_time_step: 0.1
      holonomic: false
      trigger_consecutive_points: 1
      release_consecutive_points: 1
      use_robot_footprint: true
      velocity_polygons: []
    processing_frequency_hz: 20.0
    source_timeout: 2.0
    base_shift_correction: true
    cmd_vel_timeout: 0.5
    stop_pub_timeout: 1.0
    use_realtime_priority: false
  separating_allowance:
    enabled: true
    mode: shadow
  self_hit_min_range_m: 0.4
  front_stop_m: 0.4
  front_stop_min_m: 0.08
  front_stop_react_s: 0.35
  front_slow_m: 0.18
  front_half_width_m: 0.36
  stop_core_half_width_frac: 0.8
  front_bumper_offset_m: 0.23
  front_turn_sweep_half_width_m: 0.4
  front_turn_stop_w_radps: 0.12
  front_turn_sweep_q: 0.15
  front_turn_sweep_min_points: 8
  front_turn_slow_m: 0.28
  near_front_mtf_soft_band_m: 0.22
  near_front_mtf_min_scale: 0.35
  rear_stop_m: 0.35
  rear_half_width_m: 0.4
  rear_bumper_offset_m: 0.4
  rear_slow_band_m: 0.35
  rear_turn_sweep_half_width_m: 0.42
  rear_turn_stop_w_radps: 0.12
  rear_turn_sweep_q: 0.15
  rear_turn_sweep_min_points: 8
  coordinated_vw_scaling: false
  coordinated_vw_min_scale: 0.4
  lidar_max_points: 5000
  walk_init_threshold_mps: 0.0
  predictive_enabled: false
  predictive_horizon_s: 0.8
  predictive_dt_s: 0.1
  predictive_front_extent_m: 0.3
  predictive_rear_extent_m: 0.25
  predictive_half_width_m: 0.3
  predictive_margin_m: 0.03
  predictive_min_points: 1
  barrier_enabled: false
  barrier_a_brake_mps2: 0.6
  barrier_margin_m: 0.05
  barrier_hw_base_m: 0.26
  barrier_hw_turn_gain_m_per_radps: 0.08
  barrier_front_extent_m: 0.28
  barrier_rear_extent_m: 0.25
  barrier_horizon_s: 1.5
  barrier_dt_s: 0.05
  barrier_block_floor_mps: 0.1
  barrier_self_hit_min_range_m: -1.0
  barrier_rot_radius_m: -1.0
  barrier_footprint_polygon:
  - - 0.255
    - 0.3375
  - - -0.14
    - 0.3375
  - - -0.155
    - 0.301
  - - -0.17
    - 0.2918
  - - -0.2
    - 0.2871
  - - -0.24
    - 0.2689
  - - -0.28
    - 0.2451
  - - -0.32
    - 0.2202
  - - -0.36
    - 0.1944
  - - -0.4
    - 0.165
  - - -0.4
    - -0.165
  - - -0.36
    - -0.1944
  - - -0.32
    - -0.2202
  - - -0.28
    - -0.2451
  - - -0.24
    - -0.2689
  - - -0.2
    - -0.2871
  - - -0.17
    - -0.2918
  - - -0.155
    - -0.301
  - - -0.14
    - -0.3375
  - - 0.255
    - -0.3375
lidar_filter:
  z_ground_max: -0.1
  z_lethal_max: 1.4
  z_overhang_max: 2.5
dwa:
  predict_time: 1.7
  sim_time_samples: 10
  velocity_samples: 20
  yawrate_samples: 20
  obs_cost_gain: 0.02
  to_goal_cost_gain: 24.0
  speed_cost_gain: 0.0
  path_cost_gain: 32.0
  path_align_cost_gain: 32.0
  path_align_forward_m: 0.325
  goal_align_cost_gain: 24.0
  goal_align_forward_m: 0.325
  path_cost_tolerance_m: 0.0
  path_align_obstacle_gate_m: 0.0
  path_align_gated_scale: 0.0
  osc_cost_gain: 1.0
  use_speed_cost: true
  footprint_cost_gain: 0.0
  footprint_front_extent_m: 0.3
  footprint_rear_extent_m: 0.25
  footprint_half_width_m: 0.3
  footprint_margin_m: 0.02
  footprint_soft_buffer_m: 0.2
  footprint_min_points: 1
  footprint_hard_collision: false
  footprint_adaptive_hw_min_m: 0.0
  footprint_adaptive_slack_m: 0.02
  footprint_polygon:
  - - 0.255
    - 0.3375
  - - -0.14
    - 0.3375
  - - -0.155
    - 0.301
  - - -0.17
    - 0.2918
  - - -0.2
    - 0.2871
  - - -0.24
    - 0.2689
  - - -0.28
    - 0.2451
  - - -0.32
    - 0.2202
  - - -0.36
    - 0.1944
  - - -0.4
    - 0.165
  - - -0.4
    - -0.165
  - - -0.36
    - -0.1944
  - - -0.32
    - -0.2202
  - - -0.28
    - -0.2451
  - - -0.24
    - -0.2689
  - - -0.2
    - -0.2871
  - - -0.17
    - -0.2918
  - - -0.155
    - -0.301
  - - -0.14
    - -0.3375
  - - 0.255
    - -0.3375
  footprint_turn_dilation_m_per_radps: 0.0
  inflation_radius_m: 0.55
  osc_release_ticks: 8
  osc_zero_tol: 0.001
  robot_radius: 0.255
  footprint_padding: 0.02
  escape_radius_scale: 0.75
  escape_v_max: 0.15
  rollout_distance_m: 0.0
  obs_range: 2.5
  costmap_size_m: 3.0
  costmap_resolution_m: 0.05
  min_vel_x: 0.0
  min_velocity: 0.0
  min_yawrate: 0.05
  max_accel: 2.5
  max_decel: 2.5
  max_d_yawrate: 3.2
  sim_period: 0.1
  slow_velocity_th: 0.1
  goal_threshold: 0.8
  velocity_source: measured
stuck:
  stuck_timeout_sec: 15.0
  stuck_progress_epsilon_m: 0.15
  stuck_progress_epsilon_rad: 0.0
  osc_window_steps: 40
  osc_dist_progress_cap_m: 0.12
  front_constraint_progress_cap_m: 0.1
  recovery_rearm_min_no_progress_sec: 3.0
  recovery_rearm_divergence_m: 0.18
  recovery_rearm_max_per_waypoint: 1
recovery:
  mode: adaptive
  max_per_waypoint: 5
  blocked_rearm_sec: 5.0
  cooldown_ticks: null
  round_robin_preset: nav2_faithful
  schedule:
  - action: ClearLocalCostmapBehavior
  - action: BackUpBehavior
    distance_m: 0.35
    speed_mps: 0.2
    arc_from_free_space: true
  - action: BackUpBehavior
    distance_m: 0.45
    speed_mps: 0.2
    arc_from_free_space: true
    alternate_side_bias: 0.1
    timeout_scale: 2.0
  - action: SpinBehavior
    target_rad: 1.5708
  - action: BackUpBehavior
    distance_m: 0.5
    speed_mps: 0.2
    arc_from_free_space: true
    timeout_scale: 3.0
  profile:
    enabled: true
    backup_speed_mps: 0.2
    backup_distance_scale: 1.0
    max_backup_m: 0.6
    first_backup_distance_m: 0.35
    allow_reverse_arc: true
    allow_spin: true
    spin_target_rad: 1.5708
    wait_duration_s: 5.0
    alternate_side_bias: 0.1
    backup_before_spin: true
    straight_first_backup: true
    opposite_spin_after_blocked_backup: true
    spin_direction_from_context: true
    reset_controller_between_actions: true
    reset_rearm_success_ticks: 1
    adaptive_goals: false
    adaptive_backup_min_m: 0.15
    adaptive_costmap_stale_s: 0.5
    adaptive_spin_clearance_m: 1.0
    adaptive_spin_samples: 25
    breakthrough_valid_fraction: 0.15
    separating_enabled: false
    separating_holonomic: false
    separating_distance_m: 0.25
    separating_speed_mps: 0.2
    separating_angular_speed_radps: 0.3
    separating_candidate_checks: 12
    separating_time_allowance_s: 4.0
  escalation_distance_scale: 0.5
  escalation_distance_cap_m: 0.6
pose_align:
  yaw_tolerance_rad: 0.1
  terminal_spin: true
  max_spin_attempts: 6
  spin_min_rot_vel: 0.1
  spin_max_rot_vel: -1.0
  spin_acc_lim: 0.6
velocity_smoother:
  enabled: true
  mode: legacy
  max_dv_accel: 2.0
  max_dv_decel: 2.0
  max_dw: 2.0
  max_dvy: 2.0
  smoothing_frequency: 0.0
  scale_velocities: false
  feedback: OPEN_LOOP
  max_velocity:
  - 0.5
  - 0.0
  - 2.5
  min_velocity:
  - -0.5
  - 0.0
  - -2.5
  deadband_velocity:
  - 0.0
  - 0.0
  - 0.0
  velocity_timeout: 1.0
  max_accel:
  - 2.5
  - 0.0
  - 3.2
  max_decel:
  - -2.5
  - 0.0
  - -3.2
dwa_pipeline:
  rotation_shim_enabled: false
  rotation_shim_enter_rad: 0.75
  rotation_shim_exit_rad: 0.45
  rotation_shim_lookahead_m: 0.5
  rotation_shim_angular_gain: 1.2
  rotation_shim_min_w: 0.12
  path_handler_max_search_dist_m: 3.0
  path_handler_prune_distance_m: 2.0
  progress_checker_enabled: true
  progress_checker_required_movement_radius: 0.5
  progress_checker_movement_time_allowance: 10.0
  progress_checker_required_movement_angle: 0.5
  progress_checker_check_angle: false
  progress_checker_min_displacement_m: 0.5
  progress_checker_window_ticks: 40
  stall_detector_enabled: true
  stall_goal_blocked_threshold_ticks: 12
  stall_patience_seconds: 10.0
  stall_progress_epsilon_m: 0.5
  lidar_ring_n_bins: 360
  lidar_ring_min_range_m: 0.4
mppi_pipeline:
  vx_min: 0.0
  command_decimation: 1
  controller_frequency_hz: 0.0
  prediction_horizon_s: 0.0
  model_delay_vx: 0.0
  model_delay_vy: 0.0
  model_delay_wz: 0.0
  clamp_raw_controls: false
  time_steps: 45
  batch_size: 700
  iteration_count: 1
  temperature: 0.3
  gamma: 0.015
  motion_model: omni
  vx_std: 0.3
  vy_std: 0.15
  wz_std: 0.2
  vy_max: 0.3
  wz_max: 0.4
  goal_threshold: 0.5
  legacy_g1_env_overrides: false
  path_follow_offset_from_furthest: 5
  path_angle_offset_from_furthest: 4
  blocked_guidance_enabled: false
  blocked_guidance_lookahead_m: 3.0
  blocked_guidance_side_search_max_m: 3.0
  blocked_guidance_minimum_side_offset_m: 0.75
  blocked_guidance_side_margin_m: 0.1
  blocked_guidance_entry_lead_m: 3.0
  blocked_guidance_treat_unknown_as_invalid: true
  blocked_guidance_invalid_ticks_before_reselect: 5
  blocked_guidance_target_smoothing_alpha: 0.5
  cost_weight: 3.81
  cost_consider_footprint: true
  path_align_weight: 2.0
  path_align_offset_from_furthest: 20
  path_follow_weight: 7.0
  prefer_forward_weight: 1.0
  path_angle_weight: 1.0
  path_angle_threshold_to_consider: 2.0
  path_angle_max_angle_to_furthest: 0.0
  goal_angle_weight: 15.0
  goal_angle_threshold_to_consider: 2.0
  use_goal_yaw: true
  deadband_critic_enabled: false
  velocity_deadband_weight: 35.0
  validator_collision_lookahead_time: 0.5
  validator_consider_footprint: true
  costmap_size_m: 10.0
  costmap_resolution: 0.025
  inflation_radius_m: 0.7
  inflation_cost_scaling_factor: 3.0
  footprint_radius_padding_m: null
  progress_checker_enabled: true
  progress_checker_required_movement_radius: 0.5
  progress_checker_movement_time_allowance: 10.0
  progress_checker_required_movement_angle: 0.5
  progress_checker_check_angle: false
  costmap_lidar_window_ticks: 8
  costmap_default_unknown: false
  consider_unknown_as_lethal: false
  costmap_origin_hysteresis_m: 1.0
  costmap_lidar_max_points: 0
  footprint_clearing_enabled: true
  footprint_clearing_margin_m: 0.03
  footprint_clearing_z_max_m: 0.62
  stall_detector_enabled: true
  stall_goal_blocked_threshold_ticks: 12
  stall_patience_seconds: 4.0
  stall_progress_epsilon_m: 0.15
  stall_progress_epsilon_rad: 0.0
  rotation_shim_enabled: false
  rotation_shim_enter_rad: 1.2
  rotation_shim_exit_rad: 0.45
  rotation_shim_lookahead_m: 2.0
  rotation_shim_angular_gain: 1.2
  rotation_shim_min_w: 0.12
  shim_stall_yield_ticks: 4
  shim_reengage_clear_s: 1.0
escape_fallback:
  enabled: true
  mode: shadow
  entry_failures: 3
  entry_min_s: 0.15
  standoff_ticks: 4
  standoff_seconds: 0.5
  exit_successes: 3
  handback_clear_s: 0.5
  min_dwell_s: 1.0
  translation_cap_mps: 0.25
  angular_cap_radps: 0.3
  escape_margin_m: 0.04
  world_speed_bound_mps: 1.5
  self_speed_bound_mps: 0.3
  hard_age_ceiling_s: 1.5
  corridor_fast_path_enabled: true
  overlap_band_m: 0.03
  initial_overlap_epsilon_m: 0.005
  wheel_top_m: 0.28
  deck_top_m: 0.35
  upper_z_min_m: 0.62
  episode_timeout_s: 12.0
  episode_distance_m: 1.25
  leg_distance_m: 0.25
  max_legs: 4
  max_episodes_per_waypoint: 2
  sector_bins: 36
  no_candidate_ticks: 3
  no_candidate_seconds: 0.5
  sweep_deadline_ms: 50.0
  static_taper_rectangle_m:
  - -0.36
  - 0.22
  - -0.32
  - 0.32
  static_mid_rectangle_m:
  - -0.26
  - 0.1
  - -0.19
  - 0.19
  static_upper_rectangle_m:
  - -0.25
  - 0.15
  - -0.22
  - 0.22
  static_band_use_base_footprint: false
  fk_band_exclude_link_prefixes:
  - hull_corner_
  - hull_front_center
  - base_link
  - base_chassis
  - steer_motor_
  - wheel_motor_
robot_geometry:
  inscribed_radius_m: 0.275
  footprint_padding_m: 0.02
  circumscribed_radius_m: 0.45269504272639877
  self_hit_min_range_m: 0.4
  front_bumper_offset_m: 0.233
  rear_bumper_offset_m: 0.4
  footprint_polygon:
  - - 0.255
    - 0.3375
  - - -0.14
    - 0.3375
  - - -0.155
    - 0.301
  - - -0.17
    - 0.2918
  - - -0.2
    - 0.2871
  - - -0.24
    - 0.2689
  - - -0.28
    - 0.2451
  - - -0.32
    - 0.2202
  - - -0.36
    - 0.1944
  - - -0.4
    - 0.165
  - - -0.4
    - -0.165
  - - -0.36
    - -0.1944
  - - -0.32
    - -0.2202
  - - -0.28
    - -0.2451
  - - -0.24
    - -0.2689
  - - -0.2
    - -0.2871
  - - -0.17
    - -0.2918
  - - -0.155
    - -0.301
  - - -0.14
    - -0.3375
  - - 0.255
    - -0.3375
  footprint_turn_dilation_m_per_radps: 0.0
  inflation_radius_m: 0.55
  gait_deadband_mps: 0.0
  self_mask_model_path: ''
  articulated_projection_model_path: /privatepackage://grid_pointnav/assets/collision/r1pro_urdf_projection.json
  articulated_planner_clearance_m: 0.15
  articulated_joint_motion_horizon_s: 0.75
  articulated_maximum_joint_motion_inflation_m: 0.15
  articulated_stationary_joint_speed_tolerance: 0.02
  articulated_predictive_envelope_enabled: false
  articulated_predictive_history_s: 2.0
  articulated_predictive_start_step: 0
  articulated_joint_position_overrides:
    left_gripper_finger_joint1: 0.0
    left_gripper_finger_joint2: 0.0
    right_gripper_finger_joint1: 0.0
    right_gripper_finger_joint2: 0.0
robot_adaptation:
  velocity_source: null
  creep_floor_mps: null
  planar_gate_threshold_mps: null
  yaw_gate_threshold_radps: null
  reverse_scale: null
  pivot_arc_speed_mps: null
  pivot_angular_threshold_radps: null
  band_overrides: null
runtime:
  backend: mppi
  run_name: nav
  record: default
  enable_cloud_replan: false
  cloud_replan_cooldown_s: 1.0
  cloud_replan_timeout_s: 1.0
  stream_viz_grx: false
  stream_viz_port: null
robot:
  robot_type: r1pro
  camera_name: head_camera_left
  query_intrinsics:
  - - 1010.905
    - 0.0
    - 961.427
  - - 0.0
    - 1010.978
    - 540.314
  - - 0.0
    - 0.0
    - 1.0
  query_image_size: []
  query_resolution: []
  wide_camera_calibration_path: ''
  undistort_query: true
  query_distortion_model: rational_polynomial
  query_distortion:
  - 0.2180649609086502
  - -0.14868945438260167
  - -7.288433147246063e-05
  - 5.997358540966485e-05
  - -0.007293264229376967
  - 0.6110248702232134
  - -0.15738353459586743
  - -0.04456752404105913
  T_body_camera:
  - 0.0
  - -0.349739
  - 0.936847
  - -0.0062
  - -1.0
  - 0.0
  - 0.0
  - 0.06
  - 0.0
  - -0.936847
  - -0.349739
  - 1.6244
  - 0.0
  - 0.0
  - 0.0
  - 1.0
  T_body_lidar: []
  lidar_points_in_base_link: true
  transform_lidar_to_body: false
  enable_walking: false
  odom_has_velocity: false
localization:
  hloc_query_timeout_s: 10.0
  connect_attempts: 2
  connect_timeout_s: 20.0
  connect_backoff_s: 1.0
  bootstrap_timeout_s: 0.0
  ekf_backend: numpy
  min_quality: 0.1
  min_inliers: 50
  inliers_ref: 350
  q_trans_std: 0.047
  q_yaw_std_deg: 1.6
  r_pos_std_min: 0.4
  r_pos_std_max: 1.0
  r_yaw_std_min_deg: 4.0
  r_yaw_std_max_deg: 35.0
  init_yaw_std_deg: 20.0
  gate_maha: 5.99
  max_consecutive_rejects: 8
  reset_on_reject_streak: false
  pos_only: true
  relocalize_confirm_count: 2
  correction_confirm_count: 3
  relocalize_radius_m: 0.7
  odom_rot180_threshold_deg: 150.0
  odom_rot180_accept_deg: 120.0
  lidar_refine: 'off'
  lidar_map_weight: 10
  lidar_cache_dir: ~/.cache/grid_graf
  lidar_voxel: 0.1
  lidar_map_voxel: 0.2
  lidar_max_range_m: 18.0
  lidar_min_points: 200
  lidar_min_inlier: 0.35
  lidar_min_tight: 0.0
  lidar_max_corr_trans_m: 1.0
  lidar_max_corr_yaw_deg: 20.0
  lidar_icp_iters: 30
  lidar_icp_threads: 4
  lidar_icp_hz: 3.0
  lidar_icp_max_source_points: 5000
  lidar_icp_r_pos_std: 0.1
  lidar_icp_r_yaw_std_deg: 4.0
  lidar_icp_max_result_age_s: 1.0
  lidar_icp_apply_step_trans_m: 0.05
  lidar_icp_apply_step_yaw_deg: 2.0
  lidar_gate_on_low_overlap: false
self_mask:
  mode: fk
  model_path: /privatepackage://grid_pointnav/assets/selfmask/r1pro_selfmask.json
  margin_m: 0.05
  velocity_margin_s: 0.05
  graft_band_m: 0.1
  graft_max_cluster: 25
  graft_band_gripper_m: 0.15
  joint_indices: []
  joint_groups: []
  joint_group_slots:
    base: 6
    left_arm: 10
    right_arm: 19
benchmark:
  self_mask_mode: fk
  dyn_obs_amplitude_m: 0.5
  dyn_obs_frequency_hz: 0.25
  articulated_fixed_joint_positions: {}
self_exclusion_m: 0.3
planner_exclusion_m: 0.35
self_exclusion_box_m:
- -0.2
- 0.145
- -0.29
- 0.28