GRID Docs | General Robotics

Use Configure navigation first to choose between dotted overrides and a complete config. This reference inventories every configuration field in the Pre-release schema. Download JSON Schema · Download complete R1Pro omni YAML The tables show generic schema defaults, not recommended tuning and not necessarily your robot’s defaults. A profile overrides them, and geometry propagation may derive further values. Inspect nav.config for actual values. “Factory / see resolved YAML” means a nested object or collection is built by the config loader; the downloadable YAML supplies a complete resolved example. The schema is a snapshot of the documented code. An agent should use the installed runtime’s schema and validation when they differ. It is a JSON Schema for the nested config dictionary, not a tool-call schema.

Units and validation

Distances are metres, speeds m/s, angular speeds rad/s, and frequencies Hz. Names ending in _s, _m, _hz, or _deg specify seconds, metres, Hz, or degrees. Coordinate arrays have the frame and shape described in the configuration guide or matching robot profile. The runtime validates more than JSON Schema alone describes. Root motion caps and update rates must be finite and positive, goal thresholds and failure tolerance finite and nonnegative, and max_steps positive. Camera matrices, transform lengths, image sizes, enumerated modes, and footprint dependencies are checked by the loader. Keep strict booleans and integer ports in runtime settings; unknown root/runtime fields and unknown dotted overrides are rejected. Do not interpret an unconstrained array in JSON Schema as accepting arbitrary calibration dimensions.

Root fields

Field	Meaning	Generic default
`max_linear_vel`	Maximum linear speed, m/s.	`0.35`
`max_angular_vel`	Maximum angular speed, rad/s.	`0.2`
`min_turn_forward`	Minimum forward motion setting during turns, m/s.	`0.02`
`controller_failure_tolerance_s`	Time tolerated for controller failure, seconds.	`0.0`
`control_hz`	Control update frequency, Hz.	`10.0`
`diag_export_hz`	Diagnostic export frequency, Hz.	`3.0`
`hloc_hz`	Cloud localization query frequency, Hz.	`1.0`
`intermediate_threshold_m`	Distance threshold for intermediate goals, metres.	`1.5`
`final_threshold_m`	Distance threshold for final goal, metres.	`1.0`
`max_steps`	Maximum control-loop steps.	`10000`
`async_odom_hz`	Odometry polling frequency, Hz.	`40.0`
`async_lidar_hz`	LiDAR polling frequency, Hz.	`20.0`
`async_lidar_control_reserve_s`	Reserve between LiDAR work and the control loop, seconds.	`0.0`
`self_exclusion_m`	Legacy robot self-return exclusion size, metres.	`0.0`
`planner_exclusion_m`	Legacy planner exclusion size, metres.	`0.0`
`self_exclusion_box_m`	Body-frame [x_min, x_max, y_min, y_max], metres.	`[]`

Nested sections

A section table is relative to that section: field backend under runtime is the override path runtime.backend. Use the nested mapping shape in YAML or JSON. Expand the section you need.

safety

Collision gating, standoff, sensor freshness, and Nav2 collision-monitor policies. mode selects gate or nav2. Geometry and stopping behavior must match the robot.

Field	Type	Generic default
`enabled`	`boolean`	`true`
`mode`	`string`	`"gate"`
`nav2`	`Nav2CollisionMonitorConfig`	`factory / see resolved YAML`
`separating_allowance`	`SeparatingAllowanceConfig`	`factory / see resolved YAML`
`self_hit_min_range_m`	`number`	`factory / see resolved YAML`
`front_stop_m`	`number`	`0.3`
`front_stop_min_m`	`number`	`0.0`
`front_stop_react_s`	`number`	`0.35`
`front_slow_m`	`number`	`0.85`
`front_half_width_m`	`number`	`0.45`
`stop_core_half_width_frac`	`number`	`0.8`
`front_bumper_offset_m`	`number`	`0.22`
`front_turn_sweep_half_width_m`	`number`	`0.75`
`front_turn_stop_w_radps`	`number`	`0.12`
`front_turn_sweep_q`	`number`	`0.15`
`front_turn_sweep_min_points`	`integer`	`8`
`front_turn_slow_m`	`number`	`0.45`
`near_front_mtf_soft_band_m`	`number`	`0.22`
`near_front_mtf_min_scale`	`number`	`0.35`
`rear_stop_m`	`number`	`0.3`
`rear_half_width_m`	`number`	`0.35`
`rear_bumper_offset_m`	`number`	`0.22`
`rear_slow_band_m`	`number`	`0.35`
`rear_turn_sweep_half_width_m`	`number`	`0.75`
`rear_turn_stop_w_radps`	`number`	`0.12`
`rear_turn_sweep_q`	`number`	`0.15`
`rear_turn_sweep_min_points`	`integer`	`8`
`coordinated_vw_scaling`	`boolean`	`true`
`coordinated_vw_min_scale`	`number`	`0.4`
`lidar_max_points`	`integer`	`0`
`walk_init_threshold_mps`	`number`	`0.0`
`predictive_enabled`	`boolean`	`false`
`predictive_horizon_s`	`number`	`0.8`
`predictive_dt_s`	`number`	`0.1`
`predictive_front_extent_m`	`number`	`0.3`
`predictive_rear_extent_m`	`number`	`0.25`
`predictive_half_width_m`	`number`	`0.3`
`predictive_margin_m`	`number`	`0.03`
`predictive_min_points`	`integer`	`1`
`barrier_enabled`	`boolean`	`false`
`barrier_a_brake_mps2`	`number`	`0.6`
`barrier_margin_m`	`number`	`0.05`
`barrier_hw_base_m`	`number`	`0.26`
`barrier_hw_turn_gain_m_per_radps`	`number`	`0.08`
`barrier_front_extent_m`	`number`	`0.28`
`barrier_rear_extent_m`	`number`	`0.25`
`barrier_horizon_s`	`number`	`1.5`
`barrier_dt_s`	`number`	`0.05`
`barrier_block_floor_mps`	`number`	`0.1`
`barrier_self_hit_min_range_m`	`number`	`-1.0`
`barrier_rot_radius_m`	`number`	`-1.0`
`barrier_footprint_polygon`	`any`	`null`

lidar_filter

LiDAR height and range filtering before obstacle processing.

Field	Type	Generic default
`z_ground_max`	`number`	`-0.35`
`z_lethal_max`	`number`	`0.5`
`z_overhang_max`	`number`	`1.8`

dwa

Dynamic Window Approach sampling, scoring, and kinematic parameters; relevant when using the DWA controller.

Field	Type	Generic default
`predict_time`	`number`	`1.7`
`sim_time_samples`	`integer`	`10`
`velocity_samples`	`integer`	`20`
`yawrate_samples`	`integer`	`20`
`obs_cost_gain`	`number`	`0.02`
`to_goal_cost_gain`	`number`	`24.0`
`speed_cost_gain`	`number`	`0.0`
`path_cost_gain`	`number`	`32.0`
`path_align_cost_gain`	`number`	`32.0`
`path_align_forward_m`	`number`	`0.1`
`goal_align_cost_gain`	`number`	`24.0`
`goal_align_forward_m`	`number`	`0.1`
`path_cost_tolerance_m`	`number`	`0.0`
`path_align_obstacle_gate_m`	`number`	`0.0`
`path_align_gated_scale`	`number`	`0.0`
`osc_cost_gain`	`number`	`1.0`
`use_speed_cost`	`boolean`	`true`
`footprint_cost_gain`	`number`	`0.0`
`footprint_front_extent_m`	`number`	`0.3`
`footprint_rear_extent_m`	`number`	`0.25`
`footprint_half_width_m`	`number`	`0.3`
`footprint_margin_m`	`number`	`0.02`
`footprint_soft_buffer_m`	`number`	`0.2`
`footprint_min_points`	`integer`	`1`
`footprint_hard_collision`	`boolean`	`false`
`footprint_adaptive_hw_min_m`	`number`	`0.0`
`footprint_adaptive_slack_m`	`number`	`0.02`
`footprint_polygon`	`any`	`null`
`footprint_turn_dilation_m_per_radps`	`number`	`0.0`
`inflation_radius_m`	`number`	`-1.0`
`osc_release_ticks`	`integer`	`8`
`osc_zero_tol`	`number`	`0.001`
`robot_radius`	`number`	`0.554`
`footprint_padding`	`number`	`0.05`
`escape_radius_scale`	`number`	`0.75`
`escape_v_max`	`number`	`0.15`
`rollout_distance_m`	`number`	`0.0`
`obs_range`	`number`	`2.5`
`costmap_size_m`	`number`	`-1.0`
`costmap_resolution_m`	`number`	`-1.0`
`min_vel_x`	`number`	`0.0`
`min_velocity`	`number`	`0.0`
`min_yawrate`	`number`	`0.05`
`max_accel`	`number`	`2.5`
`max_decel`	`number`	`2.5`
`max_d_yawrate`	`number`	`3.2`
`sim_period`	`number`	`0.1`
`slow_velocity_th`	`number`	`0.1`
`goal_threshold`	`number`	`0.8`
`velocity_source`	`string`	`"measured"`

stuck

Progress and stall detection windows and thresholds.

Field	Type	Generic default
`stuck_timeout_sec`	`number`	`20.0`
`stuck_progress_epsilon_m`	`number`	`0.15`
`stuck_progress_epsilon_rad`	`number`	`0.0`
`osc_window_steps`	`integer`	`40`
`osc_dist_progress_cap_m`	`number`	`0.12`
`front_constraint_progress_cap_m`	`number`	`0.1`
`recovery_rearm_min_no_progress_sec`	`number`	`6.0`
`recovery_rearm_divergence_m`	`number`	`0.18`
`recovery_rearm_max_per_waypoint`	`integer`	`1`

recovery

Recovery behavior and round-robin policy. mode selects none, simple, or adaptive; presets are nav2_faithful, deployment_legacy, or benchmark_legacy.

Field	Type	Generic default
`mode`	`string`	`"adaptive"`
`max_per_waypoint`	`integer`	`4`
`blocked_rearm_sec`	`number`	`5.0`
`cooldown_ticks`	`integer or null`	`null`
`round_robin_preset`	`string`	`"nav2_faithful"`
`schedule`	`array[any]`	`factory / see resolved YAML`
`profile`	`RecoveryProfileConfig`	`factory / see resolved YAML`
`escalation_distance_scale`	`number`	`0.5`
`escalation_distance_cap_m`	`number`	`0.6`

pose_align

Terminal position/heading alignment. It is used when the final mission goal includes a heading; plain XY goals do not request heading alignment.

Field	Type	Generic default
`yaw_tolerance_rad`	`number`	`-1.0`
`terminal_spin`	`boolean`	`false`
`max_spin_attempts`	`integer`	`3`
`spin_min_rot_vel`	`number`	`-1.0`
`spin_max_rot_vel`	`number`	`-1.0`
`spin_acc_lim`	`number`	`-1.0`

velocity_smoother

Command acceleration/deceleration and smoothing. mode is legacy or nav2; feedback is OPEN_LOOP or CLOSED_LOOP.

Field	Type	Generic default
`enabled`	`boolean`	`false`
`mode`	`string`	`"legacy"`
`max_dv_accel`	`number`	`1.0`
`max_dv_decel`	`number`	`2.0`
`max_dw`	`number`	`3.0`
`max_dvy`	`number`	`0.0`
`smoothing_frequency`	`number`	`0.0`
`scale_velocities`	`boolean`	`false`
`feedback`	`string`	`"OPEN_LOOP"`
`max_velocity`	`array[number]`	`factory / see resolved YAML`
`min_velocity`	`array[number]`	`factory / see resolved YAML`
`deadband_velocity`	`array[number]`	`factory / see resolved YAML`
`velocity_timeout`	`number`	`1.0`
`max_accel`	`array[number]`	`factory / see resolved YAML`
`max_decel`	`array[number]`	`factory / see resolved YAML`

dwa_pipeline

DWA costmap and pipeline settings.

Field	Type	Generic default
`rotation_shim_enabled`	`boolean`	`false`
`rotation_shim_enter_rad`	`number`	`0.75`
`rotation_shim_exit_rad`	`number`	`0.45`
`rotation_shim_lookahead_m`	`number`	`0.5`
`rotation_shim_angular_gain`	`number`	`1.2`
`rotation_shim_min_w`	`number`	`0.12`
`path_handler_max_search_dist_m`	`number`	`3.0`
`path_handler_prune_distance_m`	`number`	`2.0`
`progress_checker_enabled`	`boolean`	`true`
`progress_checker_required_movement_radius`	`number`	`0.5`
`progress_checker_movement_time_allowance`	`number`	`10.0`
`progress_checker_required_movement_angle`	`number`	`0.5`
`progress_checker_check_angle`	`boolean`	`false`
`progress_checker_min_displacement_m`	`number`	`0.5`
`progress_checker_window_ticks`	`integer`	`40`
`stall_detector_enabled`	`boolean`	`true`
`stall_goal_blocked_threshold_ticks`	`integer`	`12`
`stall_patience_seconds`	`number`	`4.0`
`stall_progress_epsilon_m`	`number`	`0.15`
`lidar_ring_n_bins`	`integer`	`360`
`lidar_ring_min_range_m`	`number`	`0.4`

mppi_pipeline

MPPI prediction, sampling, costmap, critics, and trajectory validation. motion_model is diff_drive or omni. Footprint-aware cost/validation requires robot_geometry.footprint_polygon.

Field	Type	Generic default
`vx_min`	`number`	`-0.35`
`command_decimation`	`integer`	`1`
`controller_frequency_hz`	`number`	`0.0`
`prediction_horizon_s`	`number`	`0.0`
`model_delay_vx`	`number`	`0.0`
`model_delay_vy`	`number`	`0.0`
`model_delay_wz`	`number`	`0.0`
`clamp_raw_controls`	`boolean`	`false`
`time_steps`	`integer`	`56`
`batch_size`	`integer`	`0`
`iteration_count`	`integer`	`1`
`temperature`	`number`	`0.3`
`gamma`	`number`	`0.015`
`motion_model`	`string`	`"diff_drive"`
`vx_std`	`number`	`0.2`
`vy_std`	`number`	`0.2`
`wz_std`	`number`	`0.4`
`vy_max`	`number`	`0.5`
`wz_max`	`number`	`0.0`
`goal_threshold`	`number or null`	`null`
`legacy_g1_env_overrides`	`boolean`	`false`
`path_follow_offset_from_furthest`	`integer`	`5`
`path_angle_offset_from_furthest`	`integer`	`4`
`blocked_guidance_enabled`	`boolean`	`false`
`blocked_guidance_lookahead_m`	`number`	`2.0`
`blocked_guidance_side_search_max_m`	`number`	`1.5`
`blocked_guidance_minimum_side_offset_m`	`number`	`0.0`
`blocked_guidance_side_margin_m`	`number`	`0.1`
`blocked_guidance_entry_lead_m`	`number`	`0.75`
`blocked_guidance_treat_unknown_as_invalid`	`boolean`	`true`
`blocked_guidance_invalid_ticks_before_reselect`	`integer`	`1`
`blocked_guidance_target_smoothing_alpha`	`number`	`1.0`
`cost_weight`	`number`	`3.81`
`cost_consider_footprint`	`boolean`	`false`
`path_align_weight`	`number`	`2.0`
`path_align_offset_from_furthest`	`integer`	`20`
`path_follow_weight`	`number`	`7.0`
`prefer_forward_weight`	`number`	`1.0`
`path_angle_weight`	`number`	`2.0`
`path_angle_threshold_to_consider`	`number`	`0.5`
`path_angle_max_angle_to_furthest`	`number`	`1.0`
`goal_angle_weight`	`number`	`3.0`
`goal_angle_threshold_to_consider`	`number`	`0.5`
`use_goal_yaw`	`boolean`	`false`
`deadband_critic_enabled`	`boolean`	`false`
`velocity_deadband_weight`	`number`	`35.0`
`validator_collision_lookahead_time`	`number`	`2.0`
`validator_consider_footprint`	`boolean`	`false`
`costmap_size_m`	`number`	`20.0`
`costmap_resolution`	`number`	`0.1`
`inflation_radius_m`	`number`	`0.55`
`inflation_cost_scaling_factor`	`number`	`10.0`
`footprint_radius_padding_m`	`number or null`	`null`
`progress_checker_enabled`	`boolean`	`true`
`progress_checker_required_movement_radius`	`number`	`0.5`
`progress_checker_movement_time_allowance`	`number`	`10.0`
`progress_checker_required_movement_angle`	`number`	`0.5`
`progress_checker_check_angle`	`boolean`	`false`
`costmap_lidar_window_ticks`	`integer`	`30`
`costmap_default_unknown`	`boolean`	`false`
`consider_unknown_as_lethal`	`boolean`	`false`
`costmap_origin_hysteresis_m`	`number`	`0.0`
`costmap_lidar_max_points`	`integer`	`0`
`footprint_clearing_enabled`	`boolean`	`true`
`footprint_clearing_margin_m`	`number`	`0.03`
`footprint_clearing_z_max_m`	`number`	`0.62`
`stall_detector_enabled`	`boolean`	`true`
`stall_goal_blocked_threshold_ticks`	`integer`	`12`
`stall_patience_seconds`	`number`	`4.0`
`stall_progress_epsilon_m`	`number`	`0.15`
`stall_progress_epsilon_rad`	`number`	`0.0`
`rotation_shim_enabled`	`boolean`	`false`
`rotation_shim_enter_rad`	`number`	`0.75`
`rotation_shim_exit_rad`	`number`	`0.45`
`rotation_shim_lookahead_m`	`number`	`2.0`
`rotation_shim_angular_gain`	`number`	`1.2`
`rotation_shim_min_w`	`number`	`0.12`
`shim_stall_yield_ticks`	`integer`	`4`
`shim_reengage_clear_s`	`number`	`1.0`

escape_fallback

Optional fallback for extracting the robot from a safety standoff. Disabled unless explicitly configured.

Field	Type	Generic default
`enabled`	`boolean`	`false`
`mode`	`string`	`"shadow"`
`entry_failures`	`integer`	`3`
`entry_min_s`	`number`	`0.15`
`standoff_ticks`	`integer`	`4`
`standoff_seconds`	`number`	`0.5`
`exit_successes`	`integer`	`3`
`handback_clear_s`	`number`	`0.5`
`min_dwell_s`	`number`	`1.0`
`translation_cap_mps`	`number`	`0.25`
`angular_cap_radps`	`number`	`0.3`
`escape_margin_m`	`number`	`0.04`
`world_speed_bound_mps`	`number`	`1.5`
`self_speed_bound_mps`	`number`	`0.3`
`hard_age_ceiling_s`	`number`	`1.5`
`corridor_fast_path_enabled`	`boolean`	`true`
`overlap_band_m`	`number`	`0.03`
`initial_overlap_epsilon_m`	`number`	`0.005`
`wheel_top_m`	`number`	`0.28`
`deck_top_m`	`number`	`0.35`
`upper_z_min_m`	`number`	`0.62`
`episode_timeout_s`	`number`	`12.0`
`episode_distance_m`	`number`	`1.25`
`leg_distance_m`	`number`	`0.25`
`max_legs`	`integer`	`4`
`max_episodes_per_waypoint`	`integer`	`2`
`sector_bins`	`integer`	`36`
`no_candidate_ticks`	`integer`	`3`
`no_candidate_seconds`	`number`	`0.5`
`sweep_deadline_ms`	`number`	`50.0`
`static_taper_rectangle_m`	`array[any]`	`[-0.36,0.22,-0.32,0.32]`
`static_mid_rectangle_m`	`array[any]`	`[-0.26,0.1,-0.19,0.19]`
`static_upper_rectangle_m`	`array[any]`	`[-0.25,0.15,-0.22,0.22]`
`static_band_use_base_footprint`	`boolean`	`false`
`fk_band_exclude_link_prefixes`	`array[string]`	`factory / see resolved YAML`

robot_geometry

Footprint, dimensions, inflation, and optional articulated projection. Geometry propagation derives related planner/safety values; edit geometry rather than assuming a derived field stays independent.

Field	Type	Generic default
`inscribed_radius_m`	`number`	`0.285`
`footprint_padding_m`	`number`	`0.05`
`circumscribed_radius_m`	`number`	`0.335`
`self_hit_min_range_m`	`number`	`0.4`
`front_bumper_offset_m`	`number`	`0.1`
`rear_bumper_offset_m`	`number`	`0.1`
`footprint_polygon`	`any`	`null`
`footprint_turn_dilation_m_per_radps`	`number`	`0.0`
`inflation_radius_m`	`number`	`-1.0`
`gait_deadband_mps`	`number`	`0.0`
`self_mask_model_path`	`string`	`""`
`articulated_projection_model_path`	`string`	`""`
`articulated_planner_clearance_m`	`number`	`0.15`
`articulated_joint_motion_horizon_s`	`number`	`0.75`
`articulated_maximum_joint_motion_inflation_m`	`number`	`0.15`
`articulated_stationary_joint_speed_tolerance`	`number`	`0.001`
`articulated_predictive_envelope_enabled`	`boolean`	`false`
`articulated_predictive_history_s`	`number`	`2.0`
`articulated_predictive_start_step`	`integer`	`0`
`articulated_joint_position_overrides`	`any`	`null`

robot_adaptation

Robot-specific command and feedback adaptations. Preserve the matching profile; defaults disable these adaptations.

Field	Type	Generic default
`velocity_source`	`string or null`	`null`
`creep_floor_mps`	`number or null`	`null`
`planar_gate_threshold_mps`	`number or null`	`null`
`yaw_gate_threshold_radps`	`number or null`	`null`
`reverse_scale`	`number or null`	`null`
`pivot_arc_speed_mps`	`number or null`	`null`
`pivot_angular_threshold_radps`	`number or null`	`null`
`band_overrides`	`object or null`	`null`

runtime

Controller selection, recording, replanning, and GRX streaming defaults. See the configuration guide for supported values and per-run overrides.

Field	Type	Generic default
`backend`	`"dwa" / "mppi"`	`"mppi"`
`run_name`	`string`	`"nav"`
`record`	`string`	`"default"`
`enable_cloud_replan`	`boolean`	`false`
`cloud_replan_cooldown_s`	`number`	`1.0`
`cloud_replan_timeout_s`	`number`	`1.0`
`stream_viz_grx`	`boolean`	`false`
`stream_viz_port`	`integer or null`	`null`

robot

Robot identity, camera calibration, image dimensions, rigid transforms, and sensor-frame flags. Preserve the calibration for the physical robot.

Field	Type	Generic default
`robot_type`	`string`	`"vision60"`
`camera_name`	`string`	`"front_left"`
`query_intrinsics`	`array[any]`	`factory / see resolved YAML`
`query_image_size`	`array[any]`	`factory / see resolved YAML`
`query_resolution`	`array[any]`	`factory / see resolved YAML`
`wide_camera_calibration_path`	`string`	`""`
`undistort_query`	`boolean`	`false`
`query_distortion_model`	`string`	`"rational_polynomial"`
`query_distortion`	`array[any]`	`factory / see resolved YAML`
`T_body_camera`	`array[any]`	`factory / see resolved YAML`
`T_body_lidar`	`array[any]`	`factory / see resolved YAML`
`lidar_points_in_base_link`	`boolean`	`false`
`transform_lidar_to_body`	`boolean`	`false`
`enable_walking`	`boolean`	`false`
`odom_has_velocity`	`boolean`	`true`

localization

Cloud localization timeouts and quality gates, pose fusion, and optional LiDAR refinement. lidar_refine selects off, shadow (diagnostics only), refine, or gate. Frequency hloc_hz is a root field.

Field	Type	Generic default
`hloc_query_timeout_s`	`number`	`10.0`
`connect_attempts`	`integer`	`2`
`connect_timeout_s`	`number`	`20.0`
`connect_backoff_s`	`number`	`1.0`
`bootstrap_timeout_s`	`number`	`0.0`
`ekf_backend`	`string`	`"auto"`
`min_quality`	`number`	`0.1`
`min_inliers`	`integer`	`50`
`inliers_ref`	`integer`	`350`
`q_trans_std`	`number`	`0.047`
`q_yaw_std_deg`	`number`	`1.6`
`r_pos_std_min`	`number`	`0.4`
`r_pos_std_max`	`number`	`1.0`
`r_yaw_std_min_deg`	`number`	`4.0`
`r_yaw_std_max_deg`	`number`	`35.0`
`init_yaw_std_deg`	`number`	`20.0`
`gate_maha`	`number`	`5.99`
`max_consecutive_rejects`	`integer`	`8`
`reset_on_reject_streak`	`boolean`	`false`
`pos_only`	`boolean`	`true`
`relocalize_confirm_count`	`integer`	`2`
`correction_confirm_count`	`integer`	`3`
`relocalize_radius_m`	`number`	`0.7`
`odom_rot180_threshold_deg`	`number`	`150.0`
`odom_rot180_accept_deg`	`number`	`120.0`
`lidar_refine`	`string`	`"off"`
`lidar_map_weight`	`integer`	`10`
`lidar_cache_dir`	`string`	`"`/.cache/grid_graf”`
`lidar_voxel`	`number`	`0.1`
`lidar_map_voxel`	`number`	`0.2`
`lidar_max_range_m`	`number`	`18.0`
`lidar_min_points`	`integer`	`200`
`lidar_min_inlier`	`number`	`0.35`
`lidar_min_tight`	`number`	`0.0`
`lidar_max_corr_trans_m`	`number`	`1.0`
`lidar_max_corr_yaw_deg`	`number`	`20.0`
`lidar_icp_iters`	`integer`	`30`
`lidar_icp_threads`	`integer`	`4`
`lidar_icp_hz`	`number`	`3.0`
`lidar_icp_max_source_points`	`integer`	`5000`
`lidar_icp_r_pos_std`	`number`	`0.1`
`lidar_icp_r_yaw_std_deg`	`number`	`4.0`
`lidar_icp_max_result_age_s`	`number`	`1.0`
`lidar_icp_apply_step_trans_m`	`number`	`0.05`
`lidar_icp_apply_step_yaw_deg`	`number`	`2.0`
`lidar_gate_on_low_overlap`	`boolean`	`false`

self_mask

Exclusion of robot-body returns from LiDAR, including optional forward-kinematic masking and model assets.

Field	Type	Generic default
`mode`	`string`	`"radial"`
`model_path`	`string`	`""`
`margin_m`	`number`	`0.02`
`velocity_margin_s`	`number`	`0.05`
`graft_band_m`	`number`	`0.0`
`graft_max_cluster`	`integer`	`25`
`graft_band_gripper_m`	`number`	`0.0`
`joint_indices`	`array[any]`	`factory / see resolved YAML`
`joint_groups`	`array[any]`	`factory / see resolved YAML`
`joint_group_slots`	`object`	`factory / see resolved YAML`

benchmark

Simulation benchmark parameters present in the config schema. These do not expose a simulation or benchmark service through Nexus.

Field	Type	Generic default
`self_mask_mode`	`string`	`"radial"`
`dyn_obs_amplitude_m`	`number`	`0.5`
`dyn_obs_frequency_hz`	`number`	`0.25`
`articulated_fixed_joint_positions`	`object`	`factory / see resolved YAML`

Nested policy objects

These types are referenced by the section tables. Arrays of these objects must be replaced as a whole when using dotted overrides.

Nav2CollisionMonitorConfig

Field	Type	Generic default
`polygons`	`array[Nav2CollisionPolygonConfig]`	`factory / see resolved YAML`
`processing_frequency_hz`	`number`	`20.0`
`source_timeout`	`number`	`2.0`
`base_shift_correction`	`boolean`	`true`
`cmd_vel_timeout`	`number`	`0.5`
`stop_pub_timeout`	`number`	`1.0`
`use_realtime_priority`	`boolean`	`false`

Nav2CollisionPolygonConfig

Field	Type	Generic default
`name`	`string`	`""`
`enabled`	`boolean`	`true`
`type`	`string`	`"polygon"`
`points`	`any`	`null`
`radius`	`number`	`0.0`
`action_type`	`string`	`"none"`
`min_points`	`integer`	`4`
`slowdown_ratio`	`number`	`0.5`
`linear_limit`	`number`	`0.5`
`angular_limit`	`number`	`0.5`
`time_before_collision`	`number`	`2.0`
`simulation_time_step`	`number`	`0.1`
`holonomic`	`boolean`	`false`
`trigger_consecutive_points`	`integer`	`1`
`release_consecutive_points`	`integer`	`1`
`use_robot_footprint`	`boolean`	`false`
`velocity_polygons`	`array[Nav2VelocitySubPolygonConfig]`	`factory / see resolved YAML`

Nav2VelocitySubPolygonConfig

Field	Type	Generic default
`name`	`string`	`""`
`points`	`any`	`null`
`linear_min`	`number`	`0.0`
`linear_max`	`number`	`0.0`
`theta_min`	`number`	`0.0`
`theta_max`	`number`	`0.0`
`direction_start_angle`	`number`	`-3.141592653589793`
`direction_end_angle`	`number`	`3.141592653589793`

RecoveryProfileConfig

Field	Type	Generic default
`enabled`	`boolean`	`true`
`backup_speed_mps`	`number`	`0.15`
`backup_distance_scale`	`number`	`1.0`
`max_backup_m`	`number`	`0.6`
`first_backup_distance_m`	`number or null`	`null`
`allow_reverse_arc`	`boolean`	`true`
`allow_spin`	`boolean`	`true`
`spin_target_rad`	`number`	`1.5708`
`wait_duration_s`	`number`	`5.0`
`alternate_side_bias`	`number`	`0.1`
`backup_before_spin`	`boolean`	`false`
`straight_first_backup`	`boolean`	`false`
`opposite_spin_after_blocked_backup`	`boolean`	`true`
`spin_direction_from_context`	`boolean`	`false`
`reset_controller_between_actions`	`boolean`	`false`
`reset_rearm_success_ticks`	`integer`	`1`
`adaptive_goals`	`boolean`	`false`
`adaptive_backup_min_m`	`number`	`0.15`
`adaptive_costmap_stale_s`	`number`	`0.5`
`adaptive_spin_clearance_m`	`number`	`1.0`
`adaptive_spin_samples`	`integer`	`25`
`breakthrough_valid_fraction`	`number`	`0.15`
`separating_enabled`	`boolean`	`false`
`separating_holonomic`	`boolean`	`false`
`separating_distance_m`	`number`	`0.25`
`separating_speed_mps`	`number`	`0.2`
`separating_angular_speed_radps`	`number`	`0.3`
`separating_candidate_checks`	`integer`	`12`
`separating_time_allowance_s`	`number`	`4.0`

SeparatingAllowanceConfig

Field	Type	Generic default
`enabled`	`boolean`	`false`
`mode`	`string`	`"shadow"`

Runtime versus mission policy

constraints is a per-mission argument, not a NavigationConfig field. See polygon constraints for its separate versioned contract. The editor’s map height slice, route optimization, and obstacle clearance are also outside this config.

Present but ineffective settings

The schema still accepts the following fields, but the configuration audit found no effective runtime consumer. Their presence is not a supported capability; use the active settings below where available.

Fields	Effective setting or limitation
`benchmark` section	Does not control production navigation behavior.
`stuck.osc_window_steps`, `osc_dist_progress_cap_m`, `front_constraint_progress_cap_m`	Use the controller progress/stall settings under `dwa_pipeline` or `mppi_pipeline`.
`dwa_pipeline.progress_checker_min_displacement_m`, `progress_checker_window_ticks`	Use `progress_checker_required_movement_radius` and `progress_checker_movement_time_allowance` (seconds).
`robot_geometry.self_mask_model_path`	Use `self_mask.model_path`.
`robot_geometry.articulated_planner_clearance_m`, `articulated_joint_motion_horizon_s`, `articulated_maximum_joint_motion_inflation_m`	These declared features are not connected to runtime behavior. Implemented live projection settings remain available.
`robot_geometry.self_hit_min_range_m`, `front_bumper_offset_m`, `rear_bumper_offset_m`	The active gate settings are under `safety`; DWA’s ring range is `dwa_pipeline.lidar_ring_min_range_m`.
`robot_adaptation.velocity_source`, `band_overrides`	Use `dwa.velocity_source` for DWA and supported typed dotted overrides for other settings.

See the configuration guide for current limitations in geometry propagation, safety-mode environment precedence, polygon validation, and MPPI timing. Do not assume audit fixes or proposed APIs are present in an installed runtime.

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Configuration field reference

Units and validation

Root fields

Nested sections

Nested policy objects

Runtime versus mission policy

Present but ineffective settings

​Units and validation

​Root fields

​Nested sections

​Nested policy objects

​Runtime versus mission policy

​Present but ineffective settings

Units and validation

Root fields

Nested sections

Nested policy objects

Runtime versus mission policy

Present but ineffective settings