<commit_before><?xml version="1.0" ?>
<PlannerDemoConfig>
    <AnalyticDDPSolver Name="analytic_ddp">
        <Debug>1</Debug>
        <MaxIterations>200</MaxIterations>
        <FunctionTolerance>-1</FunctionTolerance>
        <FunctionTolerancePatience>200</FunctionTolerancePatience>
        <UseSecondOrderDynamics>0</UseSecondOrderDynamics>
        <RegularizationRate>0.1</RegularizationRate>
    </AnalyticDDPSolver>

    <DynamicTimeIndexedShootingProblem Name="quadrotor">
        <PlanningScene>
            <Scene>
                <JointGroup>base</JointGroup>
                <URDF>{exotica_examples}/resources/robots/quadrotor.urdf</URDF>
                <SRDF>{exotica_examples}/resources/robots/quadrotor.srdf</SRDF>
                <SetRobotDescriptionRosParams>1</SetRobotDescriptionRosParams>
                <DynamicsSolver>
                    <QuadrotorDynamicsSolver Name="dsolver" Integrator="RK1">
                        <ControlLimitsLow>0</ControlLimitsLow>
                        <ControlLimitsHigh>5</ControlLimitsHigh>
                        <dt>0.01</dt>
                    </QuadrotorDynamicsSolver>
                </DynamicsSolver>
                <Links>
                    <Link Name="Obstacle0" Transform="0 0 2"/>
                    <Link Name="Obstacle1" Transform="0 1 2"/>
                    <Link Name="Obstacle2" Transform="1 0 2"/>
                    <Link Name="Obstacle3" Transform="1 1 2"/>
                    <Link Name="Obstacle4" Transform="0 -1 2"/>
                    <Link Name="Obstacle5" Transform="-1 0 2"/>
                    <Link Name="Obstacle6" Transform="-1 -1 2"/>
                    <Link Name="Obstacle7" Transform="-1 1 2"/>
                    <Link Name="Obstacle8" Transform="1 -1 2"/>

                    
                    <Link Name="Obstacle10" Transform="0.5 0 4"/>
                    <Link Name="Obstacle11" Transform="0.5 1 4"/>
                    <Link Name="Obstacle12" Transform="1.5 0 4"/>
                    <Link Name="Obstacle13" Transform="1.5 1 4"/>
                    <Link Name="Obstacle14" Transform="0.5 -1 4"/>
                    <Link Name="Obstacle15" Transform="-0.5 0 4"/>
                    <Link Name="Obstacle16" Transform="-0.5 -1 4"/>
                    <Link Name="Obstacle17" Transform="-0.5 1 4"/>
                    <Link Name="Obstacle18" Transform="1.5 -1 4"/>
                </Links>
            </Scene>
        </PlanningScene>

        <T>200</T>
        <tau>0.01</tau>

        <Maps>
            <SphereCollision Name="Collision">
                <Debug>1</Debug>
                <Precision>0.1</Precision>
                <ReferenceFrame>exotica/world_frame</ReferenceFrame>
                <EndEffector>
                    <Frame Link="base_link" Radius="0.4" Group="Robot" />

                    <Frame Link="Obstacle0" Radius="0.3" Group="Obstacle0" />
                    <Frame Link="Obstacle1" Radius="0.3" Group="Obstacle1" />
                    <Frame Link="Obstacle2" Radius="0.3" Group="Obstacle2" />
                    <Frame Link="Obstacle3" Radius="0.3" Group="Obstacle3" />
                    <Frame Link="Obstacle4" Radius="0.3" Group="Obstacle4" />
                    <Frame Link="Obstacle5" Radius="0.3" Group="Obstacle5" />
                    <Frame Link="Obstacle6" Radius="0.3" Group="Obstacle6" />
                    <Frame Link="Obstacle7" Radius="0.3" Group="Obstacle7" />
                    <Frame Link="Obstacle8" Radius="0.3" Group="Obstacle8" />

                    
                    <Frame Link="Obstacle10" Radius="0.3" Group="Obstacle10" />
                    <Frame Link="Obstacle11" Radius="0.3" Group="Obstacle11" />
                    <Frame Link="Obstacle12" Radius="0.3" Group="Obstacle12" />
                    <Frame Link="Obstacle13" Radius="0.3" Group="Obstacle13" />
                    <Frame Link="Obstacle14" Radius="0.3" Group="Obstacle14" />
                    <Frame Link="Obstacle15" Radius="0.3" Group="Obstacle15" />
                    <Frame Link="Obstacle16" Radius="0.3" Group="Obstacle16" />
                    <Frame Link="Obstacle17" Radius="0.3" Group="Obstacle17" />
                    <Frame Link="Obstacle18" Radius="0.3" Group="Obstacle18" />
                </EndEffector>
            </SphereCollision>
        </Maps>

        <Cost>
            <Task Task="Collision" Rho="50"/>
        </Cost>
        
        <!-- Q rate penalizes large pitch/yaw maneuvers -->
        <Q>0 0 0 1 1 0 0 0 0 0 0 0</Q>
        <Q_rate>10</Q_rate>

        <Qf_rate>10</Qf_rate>

        <!-- Rate penalizes large control forces. -->
        <R_rate>1e-5</R_rate>

        <StartState>0 0 5 0 0 0 0 0 0 0 0 0</StartState>
        <GoalState> 0 0 0 0 0 0 0 0 0 0 0 0</GoalState>
    </DynamicTimeIndexedShootingProblem>
</PlannerDemoConfig>
<commit_msg>[exotica_examples] Update quadrotor collision example<commit_after><?xml version="1.0" ?>
<PlannerDemoConfig>
    <AnalyticDDPSolver Name="analytic_ddp">
        <Debug>1</Debug>
        <MaxIterations>1000</MaxIterations>
        <FunctionTolerance>1e-5</FunctionTolerance>
        <FunctionTolerancePatience>1000</FunctionTolerancePatience>
        <UseSecondOrderDynamics>0</UseSecondOrderDynamics>
        <ClampControlsInForwardPass>0</ClampControlsInForwardPass>
        <RegularizationRate>1e-12</RegularizationRate>
    </AnalyticDDPSolver>

    <DynamicTimeIndexedShootingProblem Name="quadrotor">
        <PlanningScene>
            <Scene>
                <JointGroup>base</JointGroup>
                <URDF>{exotica_examples}/resources/robots/quadrotor.urdf</URDF>
                <SRDF>{exotica_examples}/resources/robots/quadrotor.srdf</SRDF>
                <SetRobotDescriptionRosParams>1</SetRobotDescriptionRosParams>
                <DynamicsSolver>
                    <QuadrotorDynamicsSolver Name="dsolver" Integrator="RK1">
                        <ControlLimitsLow>0</ControlLimitsLow>
                        <ControlLimitsHigh>5</ControlLimitsHigh>
                        <dt>0.01</dt>
                    </QuadrotorDynamicsSolver>
                </DynamicsSolver>
                <Links>
                    <Link Name="Obstacle0" Transform="0 0 2"/>
                    <Link Name="Obstacle1" Transform="0 1 2"/>
                    <Link Name="Obstacle2" Transform="1 0 2"/>
                    <Link Name="Obstacle3" Transform="1 1 2"/>
                    <Link Name="Obstacle4" Transform="0 -1 2"/>
                    <Link Name="Obstacle5" Transform="-1 0 2"/>
                    <Link Name="Obstacle6" Transform="-1 -1 2"/>
                    <Link Name="Obstacle7" Transform="-1 1 2"/>
                    <Link Name="Obstacle8" Transform="1 -1 2"/>

                    
                    <Link Name="Obstacle10" Transform="0.5 0 4"/>
                    <Link Name="Obstacle11" Transform="0.5 1 4"/>
                    <Link Name="Obstacle12" Transform="1.5 0 4"/>
                    <Link Name="Obstacle13" Transform="1.5 1 4"/>
                    <Link Name="Obstacle14" Transform="0.5 -1 4"/>
                    <Link Name="Obstacle15" Transform="-0.5 0 4"/>
                    <Link Name="Obstacle16" Transform="-0.5 -1 4"/>
                    <Link Name="Obstacle17" Transform="-0.5 1 4"/>
                    <Link Name="Obstacle18" Transform="1.5 -1 4"/>
                </Links>
            </Scene>
        </PlanningScene>

        <T>200</T>
        <tau>0.01</tau>

        <Maps>
            <SphereCollision Name="Collision">
                <Debug>1</Debug>
                <Precision>0.1</Precision>
                <ReferenceFrame>exotica/world_frame</ReferenceFrame>
                <EndEffector>
                    <Frame Link="base_link" Radius="0.4" Group="Robot" />

                    <Frame Link="Obstacle0" Radius="0.3" Group="Obstacle0" />
                    <Frame Link="Obstacle1" Radius="0.3" Group="Obstacle1" />
                    <Frame Link="Obstacle2" Radius="0.3" Group="Obstacle2" />
                    <Frame Link="Obstacle3" Radius="0.3" Group="Obstacle3" />
                    <Frame Link="Obstacle4" Radius="0.3" Group="Obstacle4" />
                    <Frame Link="Obstacle5" Radius="0.3" Group="Obstacle5" />
                    <Frame Link="Obstacle6" Radius="0.3" Group="Obstacle6" />
                    <Frame Link="Obstacle7" Radius="0.3" Group="Obstacle7" />
                    <Frame Link="Obstacle8" Radius="0.3" Group="Obstacle8" />

                    
                    <Frame Link="Obstacle10" Radius="0.3" Group="Obstacle10" />
                    <Frame Link="Obstacle11" Radius="0.3" Group="Obstacle11" />
                    <Frame Link="Obstacle12" Radius="0.3" Group="Obstacle12" />
                    <Frame Link="Obstacle13" Radius="0.3" Group="Obstacle13" />
                    <Frame Link="Obstacle14" Radius="0.3" Group="Obstacle14" />
                    <Frame Link="Obstacle15" Radius="0.3" Group="Obstacle15" />
                    <Frame Link="Obstacle16" Radius="0.3" Group="Obstacle16" />
                    <Frame Link="Obstacle17" Radius="0.3" Group="Obstacle17" />
                    <Frame Link="Obstacle18" Radius="0.3" Group="Obstacle18" />
                </EndEffector>
            </SphereCollision>
        </Maps>

        <Cost>
            <Task Task="Collision" Rho="100"/>
        </Cost>
        
        <!-- Q rate penalizes large pitch/yaw maneuvers -->
        <Q>0 0 0 1 1 0 1 1 1 0 0 0</Q>
        <Q_rate>10</Q_rate>

        <Qf_rate>100</Qf_rate>

        <!-- Rate penalizes large control forces. -->
        <R_rate>1e-5</R_rate>

        <StartState>0 0 0 0 0 0 0 0 0 0 0 0</StartState>
        <GoalState> 0 0 5 0 0 0 0 0 0 0 0 0</GoalState>
    </DynamicTimeIndexedShootingProblem>
</PlannerDemoConfig>

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