<commit_before>"""
Parameters that are the same for all behaviors.

"""
from __future__ import division
import numpy as np

################################################# DIMENSIONALITY

nstates = 6
ncontrols = 3

################################################# BEHAVIOR CONTROL

real_tol = [0.5, 0.5, np.deg2rad(10), np.inf, np.inf, np.inf]
pointshoot_tol = np.deg2rad(20)  # rad
basic_duration = 1  # s
free_radius = 6  # m
stuck_threshold = 2
fudge_factor = 0.80

################################################# TREE GROWTH

horizon = 2  # s
dt = 0.1  # s
FPR = 0
CPF = 2
ss_start = 10  # m
ss_step = 5  # m
max_nodes = 1E5

################################################# INERTIA

m = 350  # kg
I = 400  # kg*m^2
invM = np.array([1/m, 1/m, 1/I])

################################################# SPEED AND THRUST LIMITS

velmax_pos = np.array([1.2, 0.6, 0.22])  # (m/s, m/s, rad/s), body-frame forward
velmax_neg = np.array([-0.6, -0.6, -0.22])  # (m/s, m/s, rad/s), body-frame backward
thrust_max = np.array([220, 220, 220, 220])  # N, per thruster

################################################# THRUSTER CONFIGURATION

# Thruster layout, [back-left, back-right, front-left front-right] (m)
thruster_positions = np.array([[-1.9000,  1.0000, -0.0123],
                               [-1.9000, -1.0000, -0.0123],<commit_msg>BEHAVIOR PARAM: add collision_time_threshold<commit_after>"""
Parameters that are the same for all behaviors.

"""
from __future__ import division
import numpy as np

################################################# DIMENSIONALITY

nstates = 6
ncontrols = 3

################################################# BEHAVIOR CONTROL

real_tol = [0.5, 0.5, np.deg2rad(10), np.inf, np.inf, np.inf]
pointshoot_tol = np.deg2rad(20)  # rad
basic_duration = 1  # s
free_radius = 6  # m
stuck_threshold = 2
fudge_factor = 0.80
collision_time_threshold = 0.3  # s

################################################# TREE GROWTH

horizon = 2  # s
dt = 0.1  # s
FPR = 0
CPF = 2
ss_start = 10  # m
ss_step = 5  # m
max_nodes = 1E5

################################################# INERTIA

m = 350  # kg
I = 400  # kg*m^2
invM = np.array([1/m, 1/m, 1/I])

################################################# SPEED AND THRUST LIMITS

velmax_pos = np.array([1.2, 0.6, 0.22])  # (m/s, m/s, rad/s), body-frame forward
velmax_neg = np.array([-0.6, -0.6, -0.22])  # (m/s, m/s, rad/s), body-frame backward
thrust_max = np.array([220, 220, 220, 220])  # N, per thruster

################################################# THRUSTER CONFIGURATION

# Thruster layout, [back-left, back-right, front-left front-right] (m)
thruster_positions = np.array([[-1.9000,  1.0000, -0.0123],
                               [-1.9000, -1.0000, -0.0123],
{'fraction_non_alphanumeric': 0.33321207711895234, 'fraction_numerical': 0.06911604219716261, 'mean_word_length': 4.009107468123862, 'pattern_counts': {'":': 0, '<': 3, '<?xml version=': 0, '>': 3, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
{'dir': 'git-commits-cleaned', 'id': '4210117', 'n_tokens_mistral': 1111, 'n_tokens_neox': 970, 'n_words': 247}