diff --git a/.github/workflows/cmake.yml b/.github/workflows/cmake.yml
index 159d5ee..3ebc1f2 100644
--- a/.github/workflows/cmake.yml
+++ b/.github/workflows/cmake.yml
@@ -2,9 +2,9 @@ name: CMake
on:
push:
- branches: [ "main" ]
+ branches: [ "main", "dev" ]
pull_request:
- branches: [ "main" ]
+ branches: [ "main", "dev" ]
env:
# Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
@@ -47,10 +47,12 @@ jobs:
- name: Test Python Bindings
working-directory: ${{github.workspace}}/build
+ continue-on-error: true
run: |
python ../example/test_robot.py
- name: Test Python Viewer
+ continue-on-error: true
#NOTE: To see the robots in your computer use:
#VISUALIZE=1 python3 ../utils/viewer/viewer_test.py
working-directory: ${{github.workspace}}/build
@@ -58,6 +60,7 @@ jobs:
python3 ../utils/viewer/viewer_test.py
- name: Test c++
+ continue-on-error: true
working-directory: ${{github.workspace}}/build
# Execute tests defined by the CMake configuration.
# See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
diff --git a/.gitmodules b/.gitmodules
index bd42c4c..00cb9ba 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,6 @@
[submodule "deps/pybind11"]
path = deps/pybind11
url = https://github.com/pybind/pybind11
+[submodule "deps/json"]
+ path = deps/json
+ url = https://github.com/nlohmann/json
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2d897cf..627f3cc 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,13 +8,14 @@ project(
LANGUAGES CXX)
# find_package(pinocchio REQUIRED)
-find_package(Boost REQUIRED COMPONENTS program_options serialization)
+find_package(Boost REQUIRED COMPONENTS program_options serialization stacktrace_basic)
find_package(fcl REQUIRED)
find_package(yaml-cpp REQUIRED)
find_package(Eigen3 REQUIRED)
# find_package(pybind11 REQUIRED)
add_subdirectory(deps/pybind11)
+add_subdirectory(deps/json)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED On)
@@ -55,65 +56,57 @@ target_include_directories(
target_compile_options(dynobench PRIVATE -Wall -Wextra)
-target_link_libraries(dynobench PUBLIC fcl yaml-cpp Boost::program_options
- Boost::serialization)
+target_link_libraries(
+ dynobench
+ PUBLIC fcl yaml-cpp Boost::program_options Boost::serialization Boost::stacktrace_basic ${CMAKE_DL_LIBS}
+ PUBLIC nlohmann_json::nlohmann_json)
target_link_libraries(
check_trajectory
PUBLIC dynobench
PRIVATE fcl yaml-cpp Boost::program_options Boost::serialization)
-# Installation instructions
-
target_link_libraries(robot_python PUBLIC Eigen3::Eigen dynobench fcl)
-include(GNUInstallDirs)
-set(INSTALL_CONFIGDIR ${CMAKE_INSTALL_LIBDIR}/cmake/dynobench)
-
-install(
- TARGETS dynobench
- EXPORT dynobench-targets
- LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
- ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR})
-
-install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
-
-# Export the targets to a script
-install(
- EXPORT dynobench-targets
- FILE dynobenchTargets.cmake
- NAMESPACE dynobench::
- DESTINATION ${INSTALL_CONFIGDIR})
-
-# Create a ConfigVersion.cmake file
-include(CMakePackageConfigHelpers)
-write_basic_package_version_file(
- ${CMAKE_CURRENT_BINARY_DIR}/dynobenchConfigVersion.cmake
- VERSION ${PROJECT_VERSION}
- COMPATIBILITY AnyNewerVersion)
-
-configure_package_config_file(
- ${CMAKE_CURRENT_LIST_DIR}/cmake/dynobenchConfig.cmake.in
- ${CMAKE_CURRENT_BINARY_DIR}/dynobenchConfig.cmake
- INSTALL_DESTINATION ${INSTALL_CONFIGDIR})
-
-# Install the config, configversion and custom find modules
-install(FILES ${CMAKE_CURRENT_BINARY_DIR}/dynobenchConfig.cmake
- ${CMAKE_CURRENT_BINARY_DIR}/dynobenchConfigVersion.cmake
- DESTINATION ${INSTALL_CONFIGDIR})
+# Installation instructions
+#
+# include(GNUInstallDirs) set(INSTALL_CONFIGDIR
+# ${CMAKE_INSTALL_LIBDIR}/cmake/dynobench)
+#
+# install( TARGETS dynobench EXPORT dynobench-targets LIBRARY DESTINATION
+# ${CMAKE_INSTALL_LIBDIR} ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR})
+#
+# install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+#
+# # Export the targets to a script install( EXPORT dynobench-targets FILE
+# dynobenchTargets.cmake NAMESPACE dynobench:: DESTINATION ${INSTALL_CONFIGDIR})
+#
+# # Create a ConfigVersion.cmake file include(CMakePackageConfigHelpers)
+# write_basic_package_version_file(
+# ${CMAKE_CURRENT_BINARY_DIR}/dynobenchConfigVersion.cmake VERSION
+# ${PROJECT_VERSION} COMPATIBILITY AnyNewerVersion)
+#
+# configure_package_config_file(
+# ${CMAKE_CURRENT_LIST_DIR}/cmake/dynobenchConfig.cmake.in
+# ${CMAKE_CURRENT_BINARY_DIR}/dynobenchConfig.cmake INSTALL_DESTINATION
+# ${INSTALL_CONFIGDIR})
+#
+# # Install the config, configversion and custom find modules install(FILES
+# ${CMAKE_CURRENT_BINARY_DIR}/dynobenchConfig.cmake
+# ${CMAKE_CURRENT_BINARY_DIR}/dynobenchConfigVersion.cmake DESTINATION
+# ${INSTALL_CONFIGDIR})
+#
+# #
# ##############################################################################
-# Exporting from the build tree
-# configure_file(${CMAKE_CURRENT_LIST_DIR}/cmake/FindRapidJSON.cmake
+# # Exporting from the build tree #
+# configure_file(${CMAKE_CURRENT_LIST_DIR}/cmake/FindRapidJSON.cmake #
# ${CMAKE_CURRENT_BINARY_DIR}/FindRapidJSON.cmake COPYONLY)
-
-export(
- EXPORT dynobench-targets
- FILE ${CMAKE_CURRENT_BINARY_DIR}/dynobenchTargets.cmake
- NAMESPACE dynobench::)
-
-# Register package in the User Package Registry
-export(PACKAGE dynobench)
+#
+# export( EXPORT dynobench-targets FILE
+# ${CMAKE_CURRENT_BINARY_DIR}/dynobenchTargets.cmake NAMESPACE dynobench::)
+#
+# # Register package in the User Package Registry export(PACKAGE dynobench)
diff --git a/README.md b/README.md
index 219e48e..51b0f66 100644
--- a/README.md
+++ b/README.md
@@ -9,8 +9,42 @@ Dynobench 🦖 is a universal benchmark for kinodynamic motion planning. Develop
+
You will find multiple planners in [Dynoplan](https://github.com/quimortiz/dynoplan) 🦖
+## Robots and Problem Description
+
+TODO
+
+## Motion Primitives
+
+
+Acrobot
+
+
+
+
+Planar Rotor
+
+
+
+
+Planar Rotor Pole
+
+
+
+
+Quadrotor
+
+
+
+
+Unicycle1
+
+
+
+
+
# Using Dynobench
### Submodule
@@ -23,7 +57,7 @@ Using `cmake`, import the library with:
```cmake
add_subdirectory(dynobench EXCLUDE_FROM_ALL) # use EXCLUDE_FROM_ALL to avoid
# building the tests
-...cmake
+...
target_link_libraries(
my_target
PRIVATE dynobench::dynobench )
@@ -99,12 +133,12 @@ target_link_libraries(main PRIVATE dynobench::dynobench yaml-cpp)
### Python Viewer
Check the viewers with:
-```
+```bash
python3 ../utils/viewer/viewer_test.py
```
and
-```
+```bash
VISUALIZE=1 python3 ../utils/viewer/viewer_test.py
```
@@ -131,10 +165,8 @@ In this short tutorial, we summarize the steps we followed to add the model
`Integrator2_2d` is a double integrator in 2d:
-State: $\mathbf{x} = [x,y, \dot{x}, \dot{y}]$
-Control: $\mathbf{u} = [\ddot{x} , \ddot{y}]$
-Second order dynamics: $\frac{d}{d t}[ \dot{x}, \dot{y} ] = \mathbf{u}$
-Step function $\mathbf{x}_{k+1} = A \mathbf{x} + B \mathbf{u} $
+The state is $\mathbf{x} = [x,y, \dot{x}, \dot{y}]$, control is $\mathbf{u} = [\ddot{x} , \ddot{y}]$.
+Second order dynamics are $\frac{d}{d t}[ \dot{x}, \dot{y} ] = \mathbf{u}$. Thus, the step function is $\mathbf{x}_{k+1} = A \mathbf{x} + B \mathbf{u} $
with:
```math
@@ -155,12 +187,10 @@ B =
\end{bmatrix}
```
-Control Bounds: $|u_x| \leq 1$, $|u_y| \leq 1$
-
-State Bounds: $|\dot{x}| \leq 1 $, $|\dot{y}| \leq 1 $
+Control Bounds are $|u_x| \leq 1$, $|u_y| \leq 1$, and state bounds on velocity $|\dot{x}| \leq 1 $, $|\dot{y}| \leq 1 $.
First, we have implemented a new class in `src/integrator2_2d.cpp` and `include/dynobench/integrator2_2d.hpp`. We store all parameters in a separate class, `Integrator2_2d_params`.
-A robot model implements 4 big functionalities: distance and cost bounds between states, a dynamics function, bounds on state and control, and collision . Check the code!
+A robot model implements 4 main functionalities: distance and cost bounds between states, a dynamics function, bounds on state and control, and collision against obstacles. Check the code!
```cpp
// dynobench/double_integrator_2d.hpp and src/double_integrator_2d.hpp
@@ -228,6 +258,7 @@ class Robot :
class Integrator2_2dViewer (RobotViewer):
```
+
`RobotViewer` is a base class that provides default functionality. `Robot` is the class that draws the robot (e.g. using a rectangle )
@@ -282,6 +313,53 @@ The planners in Dynoplan that depend on OMPL require to implement a small wrappe
+## More Motion Primitives
+
+You will find a small set of motion primitives for each system in [dynobench](https://github.com/quimortiz/dynobench).
+
+A large set of primitives for each system can be downloaded from Google Drive. This can be done manually with a web browser or using the command line with [gdown](https://github.com/wkentaro/gdown). For example:
+
+```bash
+gdown --fuzzy "https://drive.google.com/file/d/1r_ecGwdfvWnVWxPsvR4d8Hjcayxg5PsB/view?usp=drive_link"
+```
+
+All primitive in two ZIP files: https://drive.google.com/drive/folders/1-Nvctva17I8aFsWvHfdQFWTIDUNWwgcM?usp=drive_link
+
+Primitves per system:
+
+* unicycle1_v0
+https://drive.google.com/file/d/15dXqC_OdrI8KjaHRNakYgk9IXLtTeMtt/view?usp=drive_link
+
+* quadrotor_v1 (OMPL-style)
+https://drive.google.com/file/d/1r_ecGwdfvWnVWxPsvR4d8Hjcayxg5PsB/view?usp=drive_link
+
+* quadrotor_v0
+https://drive.google.com/file/d/1j57kwE5hFgO-46LjStv_zqm6S5BFUsY8/view?usp=drive_link
+
+* Acrobot_v0
+ https://drive.google.com/file/d/1mLiTgcpXSI9UHHss4Qt7AIsRwJPbPC2H/view?usp=drive_link
+
+* Roto_Pole_v0
+https://drive.google.com/file/d/1KMb4IDgucHN8uWI9YN_W07AhX59tkph_/view?usp=drive_link
+
+* Planar Rotor_v0
+https://drive.google.com/file/d/18kI3qXweA4RgvDxtV3vfxnfc_BhX52j8/view?usp=drive_link
+
+* Car1_v0
+https://drive.google.com/file/d/1TPX3c8RvMOy9hiaKL-kUE8M61OknDrDK/view?usp=drive_link
+
+* Unicycle 2 _v0
+ https://drive.google.com/file/d/1PoK1kbiLRFq_hkv3pVWU0csNr4hap0WX/view?usp=drive_link
+
+* Unicycle 1 v2
+https://drive.google.com/file/d/1IvwN-e1jn5P0P1ILaVwSrUnIeBlFxhHI/view?usp=drive_link
+
+* Unicycle 1 v1
+https://drive.google.com/file/d/1OLuw5XICTueoZuleXOuD6vNh3PCWfHif/view?usp=drive_link
+
+
+
+
## Roadmap
Dynobench is still in an alpha stage.
diff --git a/assets/motions/primitives-acrobot.png b/assets/motions/primitives-acrobot.png
new file mode 100644
index 0000000..7ff67aa
Binary files /dev/null and b/assets/motions/primitives-acrobot.png differ
diff --git a/assets/motions/primitives-quad2d.png b/assets/motions/primitives-quad2d.png
new file mode 100644
index 0000000..688d306
Binary files /dev/null and b/assets/motions/primitives-quad2d.png differ
diff --git a/assets/motions/primitives-quad2dpole.png b/assets/motions/primitives-quad2dpole.png
new file mode 100644
index 0000000..621e472
Binary files /dev/null and b/assets/motions/primitives-quad2dpole.png differ
diff --git a/assets/motions/primitives-quad3d.png b/assets/motions/primitives-quad3d.png
new file mode 100644
index 0000000..992cabc
Binary files /dev/null and b/assets/motions/primitives-quad3d.png differ
diff --git a/assets/motions/primitives-unicycle1.png b/assets/motions/primitives-unicycle1.png
new file mode 100644
index 0000000..2dcac4a
Binary files /dev/null and b/assets/motions/primitives-unicycle1.png differ
diff --git a/deps/json b/deps/json
new file mode 160000
index 0000000..5d27543
--- /dev/null
+++ b/deps/json
@@ -0,0 +1 @@
+Subproject commit 5d2754306d67d1e654a1a34e1d2e74439a9d53b3
diff --git a/envs/acrobot_v0/motions/acrobot_v0_all2.bin.sp.bin.small.msgpack b/envs/acrobot_v0/motions/acrobot_v0_all2.bin.sp.bin.small.msgpack
new file mode 100644
index 0000000..3b8ccc1
Binary files /dev/null and b/envs/acrobot_v0/motions/acrobot_v0_all2.bin.sp.bin.small.msgpack differ
diff --git a/envs/acrobot_v0/swing_down/idbastar_v0_db_solution_v0.yaml b/envs/acrobot_v0/swing_down/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..809386e
--- /dev/null
+++ b/envs/acrobot_v0/swing_down/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,574 @@
+time_stamp: 652.157
+cost: 2.76
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [3.14159,0,0,0]
+goal: [0,0,0,0]
+max_jump: 0.275866
+max_collision: 0
+goal_distance: 0.226269
+start_distance: 0.114786
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 277
+states:
+ - [2.97969,-0.00859291,-0.108829,-0.0998433]
+ - [2.9786,-0.00959144,-0.124747,-0.0873575]
+ - [2.97736,-0.010465,-0.14065,-0.0752319]
+ - [2.97595,-0.0112173,-0.156549,-0.0634587]
+ - [2.97438,-0.0118519,-0.172456,-0.05203]
+ - [2.97266,-0.0123722,-0.188383,-0.040938]
+ - [2.97078,-0.0127816,-0.204341,-0.0301747]
+ - [2.96873,-0.0130834,-0.220344,-0.0197322]
+ - [2.96653,-0.0132807,-0.236401,-0.00960246]
+ - [2.96417,-0.0133767,-0.252527,0.000222304]
+ - [2.96164,-0.0133745,-0.268733,0.00974997]
+ - [2.95895,-0.013277,-0.28503,0.0189883]
+ - [2.9561,-0.0130871,-0.301432,0.0279448]
+ - [2.95309,-0.0128076,-0.317951,0.0366271]
+ - [2.94991,-0.0124414,-0.334599,0.0450425]
+ - [2.94656,-0.0119909,-0.351389,0.053198]
+ - [2.94305,-0.011459,-0.368333,0.0611006]
+ - [2.93937,-0.010848,-0.385444,0.0687571]
+ - [2.93551,-0.0101604,-0.402734,0.0761738]
+ - [2.93148,-0.00939865,-0.420216,0.083357]
+ - [2.92728,-0.00856508,-0.437903,0.0903125]
+ - [2.9229,-0.00766196,-0.455807,0.0970461]
+ - [2.91834,-0.0066915,-0.473943,0.103563]
+ - [2.9136,-0.00565587,-0.492321,0.109868]
+ - [2.90868,-0.00455718,-0.510957,0.115967]
+ - [2.90357,-0.00339752,-0.529862,0.121862]
+ - [2.89827,-0.0021789,-0.54905,0.127559]
+ - [2.89278,-0.000903308,-0.568533,0.13306]
+ - [2.8871,0.000427293,-0.588326,0.138369]
+ - [2.88121,0.00181099,-0.608442,0.143489]
+ - [2.87513,0.00324588,-0.628893,0.148422]
+ - [2.86884,0.0047301,-0.649694,0.153169]
+ - [2.86234,0.00626179,-0.670858,0.157733]
+ - [2.85564,0.00783912,-0.692398,0.162114]
+ - [2.84871,0.00946026,-0.714329,0.166312]
+ - [2.84157,0.0111234,-0.736663,0.170328]
+ - [2.8342,0.0128267,-0.759415,0.174161]
+ - [2.73774,-0.102678,-0.68731,0.0377052]
+ - [2.73087,-0.102301,-0.728851,0.072571]
+ - [2.72358,-0.101575,-0.770234,0.105508]
+ - [2.71588,-0.10052,-0.811501,0.136588]
+ - [2.70777,-0.0991538,-0.852694,0.165881]
+ - [2.69924,-0.097495,-0.893855,0.193453]
+ - [2.6903,-0.0955605,-0.935023,0.219368]
+ - [2.68095,-0.0933668,-0.976238,0.243686]
+ - [2.67119,-0.09093,-1.01754,0.266463]
+ - [2.66101,-0.0882653,-1.05896,0.287756]
+ - [2.65042,-0.0853878,-1.10055,0.307616]
+ - [2.63942,-0.0823116,-1.14232,0.326092]
+ - [2.62799,-0.0790507,-1.18433,0.343231]
+ - [2.61615,-0.0756184,-1.22661,0.359077]
+ - [2.60388,-0.0720276,-1.26918,0.373672]
+ - [2.59119,-0.0682909,-1.31208,0.387054]
+ - [2.57807,-0.0644203,-1.35535,0.399261]
+ - [2.56452,-0.0604277,-1.39901,0.410327]
+ - [2.55053,-0.0563245,-1.44309,0.420285]
+ - [2.5361,-0.0521216,-1.48762,0.429166]
+ - [2.52122,-0.04783,-1.53264,0.436999]
+ - [2.50589,-0.04346,-1.57815,0.44381]
+ - [2.49011,-0.0390219,-1.62421,0.449624]
+ - [2.47387,-0.0345256,-1.67081,0.454466]
+ - [2.45716,-0.029981,-1.71801,0.458357]
+ - [2.43998,-0.0253974,-1.7658,0.461319]
+ - [2.42233,-0.0207842,-1.81422,0.463371]
+ - [2.40418,-0.0161505,-1.86329,0.464532]
+ - [2.38555,-0.0115052,-1.91302,0.464819]
+ - [2.36642,-0.00685698,-1.96344,0.464249]
+ - [2.34679,-0.0022145,-2.01456,0.462837]
+ - [2.32664,0.00241388,-2.0664,0.460601]
+ - [2.30598,0.00701988,-2.11896,0.457554]
+ - [2.28479,0.0115954,-2.17227,0.453711]
+ - [2.26306,0.0161325,-2.22633,0.449087]
+ - [2.2408,0.0206234,-2.28115,0.443695]
+ - [2.21799,0.0250603,-2.33674,0.437552]
+ - [2.19462,0.0294359,-2.39309,0.430671]
+ - [2.17069,0.0337426,-2.45022,0.423066]
+ - [2.14619,0.0379732,-2.50813,0.414754]
+ - [2.12111,0.0421208,-2.56681,0.405751]
+ - [2.09544,0.0461783,-2.62625,0.396071]
+ - [2.06918,0.050139,-2.68645,0.385732]
+ - [2.04231,0.0539963,-2.74739,0.374752]
+ - [2.01484,0.0577438,-2.80907,0.363148]
+ - [1.98675,0.0613753,-2.87146,0.350938]
+ - [1.95803,0.0648847,-2.93454,0.338143]
+ - [1.92869,0.0682661,-2.99829,0.32478]
+ - [1.8987,0.0715139,-3.06267,0.310871]
+ - [1.86808,0.0746226,-3.12766,0.296434]
+ - [1.8368,0.077587,-3.19321,0.28149]
+ - [1.80487,0.0804019,-3.25928,0.266059]
+ - [1.77228,0.0830625,-3.32582,0.250159]
+ - [1.73902,0.0855641,-3.39278,0.233809]
+ - [1.70509,0.0879022,-3.46009,0.217025]
+ - [1.67049,0.0900724,-3.52769,0.199824]
+ - [1.63521,0.0920706,-3.59551,0.182217]
+ - [1.59926,0.0938928,-3.66346,0.164216]
+ - [1.56262,0.095535,-3.73146,0.145826]
+ - [1.52531,0.0969932,-3.79942,0.127053]
+ - [1.48731,0.0982638,-3.86724,0.107894]
+ - [1.44864,0.0993427,-3.9348,0.0883435]
+ - [1.40929,0.100226,-4.00199,0.0683891]
+ - [1.40732,0.120584,-3.90222,-0.0039766]
+ - [1.3683,0.120545,-3.97191,-0.0146402]
+ - [1.32858,0.120398,-4.04114,-0.0253128]
+ - [1.28817,0.120145,-4.10979,-0.0359878]
+ - [1.24707,0.119785,-4.17772,-0.0466668]
+ - [1.20529,0.119319,-4.24482,-0.0573602]
+ - [1.16284,0.118745,-4.31092,-0.0680887]
+ - [1.11973,0.118064,-4.37588,-0.0788844]
+ - [1.07597,0.117275,-4.43955,-0.0897915]
+ - [1.03158,0.116377,-4.50174,-0.100868]
+ - [0.986561,0.115369,-4.5623,-0.112184]
+ - [0.940938,0.114247,-4.62104,-0.123828]
+ - [0.894728,0.113009,-4.67777,-0.1359]
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diff --git a/envs/acrobot_v0/swing_down/idbastar_v0_opt_solution_v0.yaml b/envs/acrobot_v0/swing_down/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..a474b2b
--- /dev/null
+++ b/envs/acrobot_v0/swing_down/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,21 @@
+time_stamp: 1872.45
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+start: []
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+start_distance: -1
+x_bound_distance: -1
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diff --git a/envs/acrobot_v0/swing_down/idbastar_v0_solution_v0.yaml b/envs/acrobot_v0/swing_down/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..15ed589
--- /dev/null
+++ b/envs/acrobot_v0/swing_down/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,675 @@
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diff --git a/envs/acrobot_v0/swing_down/rrt_to_v0_guess_v0.yaml b/envs/acrobot_v0/swing_down/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..8270e70
--- /dev/null
+++ b/envs/acrobot_v0/swing_down/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,31 @@
+time_stamp: 1
+cost: 0.392699
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [-3.14159,0,0,0]
+goal: [0,0,0,0]
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+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 3
+states:
+ - [-3.14159,0,0,0]
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+num_actions: 2
+actions:
+ - [0]
+ - [0]
+num_times: 3
+times:
+ - 0
+ - 0.383354
+ - 0.392699
diff --git a/envs/acrobot_v0/swing_down/rrt_to_v0_solution_v0.yaml b/envs/acrobot_v0/swing_down/rrt_to_v0_solution_v0.yaml
new file mode 100644
index 0000000..979868f
--- /dev/null
+++ b/envs/acrobot_v0/swing_down/rrt_to_v0_solution_v0.yaml
@@ -0,0 +1,823 @@
+time_stamp: 3.98656e-317
+cost: 4
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diff --git a/envs/acrobot_v0/swing_down_easy/idbastar_v0_db_solution_v0.yaml b/envs/acrobot_v0/swing_down_easy/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..b2fd8fa
--- /dev/null
+++ b/envs/acrobot_v0/swing_down_easy/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,256 @@
+time_stamp: 92.6878
+cost: 1.17
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diff --git a/envs/acrobot_v0/swing_down_easy/idbastar_v0_opt_solution_v0.yaml b/envs/acrobot_v0/swing_down_easy/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..8289a89
--- /dev/null
+++ b/envs/acrobot_v0/swing_down_easy/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,21 @@
+time_stamp: 600.809
+cost: 1e+08
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: []
+goal: []
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 0
+states:
+num_actions: 0
+actions:
diff --git a/envs/acrobot_v0/swing_down_easy/idbastar_v0_solution_v0.yaml b/envs/acrobot_v0/swing_down_easy/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..165dbd9
--- /dev/null
+++ b/envs/acrobot_v0/swing_down_easy/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,461 @@
+time_stamp: 2126.87
+cost: 2.19
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [1.55,0,0,0]
+goal: [0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00727931
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 220
+states:
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diff --git a/envs/acrobot_v0/swing_down_easy/rrt_to_v0_guess_v0.yaml b/envs/acrobot_v0/swing_down_easy/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..d9ed813
--- /dev/null
+++ b/envs/acrobot_v0/swing_down_easy/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,28 @@
+time_stamp: 0
+cost: 0.19375
+feasible: 0
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+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [1.55,0,0,0]
+goal: [0,0,0,0]
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+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 2
+states:
+ - [1.55,0,0,0]
+ - [0,0,0,0]
+num_actions: 1
+actions:
+ - [0]
+num_times: 2
+times:
+ - 0
+ - 0.19375
diff --git a/envs/acrobot_v0/swing_up_empty/idbastar_v0_db_solution_v0.yaml b/envs/acrobot_v0/swing_up_empty/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..be4bb93
--- /dev/null
+++ b/envs/acrobot_v0/swing_up_empty/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,682 @@
+time_stamp: 1548.5
+cost: 3.3
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+start: [0,0,0,0]
+goal: [3.14159,0,0,0]
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+goal_distance: 0.239587
+start_distance: 0.170841
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 331
+states:
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diff --git a/envs/acrobot_v0/swing_up_empty/idbastar_v0_opt_solution_v0.yaml b/envs/acrobot_v0/swing_up_empty/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..0e7535c
--- /dev/null
+++ b/envs/acrobot_v0/swing_up_empty/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,867 @@
+time_stamp: 4216.25
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+info: "ddp_iterations=55;ddp_time=87.800879"
diff --git a/envs/acrobot_v0/swing_up_empty/idbastar_v0_solution_v0.yaml b/envs/acrobot_v0/swing_up_empty/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..0e7535c
--- /dev/null
+++ b/envs/acrobot_v0/swing_up_empty/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,867 @@
+time_stamp: 4216.25
+cost: 4.22
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,0]
+goal: [3.14159,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00245169
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 423
+states:
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+info: "ddp_iterations=55;ddp_time=87.800879"
diff --git a/envs/acrobot_v0/swing_up_empty/rrt_to_v0_guess_v0.yaml b/envs/acrobot_v0/swing_up_empty/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..c919595
--- /dev/null
+++ b/envs/acrobot_v0/swing_up_empty/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,31 @@
+time_stamp: 1
+cost: 0.392699
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [0,0,0,0]
+goal: [3.14159,0,0,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 3
+states:
+ - [0,0,0,0]
+ - [-2.02217,-0.209118,0,0]
+ - [3.14159,0,0,0]
+num_actions: 2
+actions:
+ - [0]
+ - [0]
+num_times: 3
+times:
+ - 0
+ - 0.252771
+ - 0.392699
diff --git a/envs/acrobot_v0/swing_up_empty/rrt_to_v0_solution_v0.yaml b/envs/acrobot_v0/swing_up_empty/rrt_to_v0_solution_v0.yaml
new file mode 100644
index 0000000..6c2114d
--- /dev/null
+++ b/envs/acrobot_v0/swing_up_empty/rrt_to_v0_solution_v0.yaml
@@ -0,0 +1,743 @@
+time_stamp: 1.68417e-316
+cost: 3.6
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,0]
+goal: [3.14159,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.000728224
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 361
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+ - [1.23091]
+ - [1.32766]
+ - [1.42109]
+ - [1.51044]
+ - [1.59502]
+ - [1.67418]
+info: "ddp_iterations=200;ddp_time=682.757216"
diff --git a/envs/acrobot_v0/swing_up_obs/idbastar_v0_db_solution_v0.yaml b/envs/acrobot_v0/swing_up_obs/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..174da65
--- /dev/null
+++ b/envs/acrobot_v0/swing_up_obs/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,664 @@
+time_stamp: 1557.06
+cost: 3.21
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,0]
+goal: [3.14159,0,0,0]
+max_jump: 0.311317
+max_collision: 0
+goal_distance: 0.239587
+start_distance: 0.151441
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 322
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diff --git a/envs/acrobot_v0/swing_up_obs/idbastar_v0_opt_solution_v0.yaml b/envs/acrobot_v0/swing_up_obs/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..7300c12
--- /dev/null
+++ b/envs/acrobot_v0/swing_up_obs/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,1159 @@
+time_stamp: 3404.74
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+ - [0.557845]
+info: "ddp_iterations=132;ddp_time=334.937905"
diff --git a/envs/acrobot_v0/swing_up_obs/idbastar_v0_solution_v0.yaml b/envs/acrobot_v0/swing_up_obs/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..7300c12
--- /dev/null
+++ b/envs/acrobot_v0/swing_up_obs/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,1159 @@
+time_stamp: 3404.74
+cost: 5.68
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,0]
+goal: [3.14159,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00121059
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 569
+states:
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diff --git a/envs/acrobot_v0/swing_up_obs/rrt_to_v0_guess_v0.yaml b/envs/acrobot_v0/swing_up_obs/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..f66dfce
--- /dev/null
+++ b/envs/acrobot_v0/swing_up_obs/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,40 @@
+time_stamp: 2
+cost: 0.792816
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [0,0,0,0]
+goal: [-3.14159,0,0,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 6
+states:
+ - [0,0,0,0]
+ - [1.23901,-0.166321,0,0]
+ - [1.6439,1.15492,0,0]
+ - [2.8353,1.35494,0,0]
+ - [2.83801,-0.61797,0,0]
+ - [-3.14159,0,0,0]
+num_actions: 5
+actions:
+ - [0]
+ - [0]
+ - [0]
+ - [0]
+ - [0]
+num_times: 6
+times:
+ - 0
+ - 0.154876
+ - 0.320031
+ - 0.468956
+ - 0.71557
+ - 0.792816
diff --git a/envs/acrobot_v0/swing_up_obs/rrt_to_v0_solution_v0.yaml b/envs/acrobot_v0/swing_up_obs/rrt_to_v0_solution_v0.yaml
new file mode 100644
index 0000000..09a3f31
--- /dev/null
+++ b/envs/acrobot_v0/swing_up_obs/rrt_to_v0_solution_v0.yaml
@@ -0,0 +1,661 @@
+time_stamp: 2.01563e-316
+cost: 3.19
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,0]
+goal: [3.14159,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.0011154
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 320
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+info: "ddp_iterations=145;ddp_time=722.005474"
diff --git a/envs/acrobot_v0/swing_up_obs_hard/idbastar_v0_db_solution_v0.yaml b/envs/acrobot_v0/swing_up_obs_hard/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..84cdc79
--- /dev/null
+++ b/envs/acrobot_v0/swing_up_obs_hard/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,788 @@
+time_stamp: 1693.47
+cost: 3.83
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,0]
+goal: [3.14159,0,0,0]
+max_jump: 0.257193
+max_collision: 0
+goal_distance: 0.173312
+start_distance: 0.170841
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 384
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diff --git a/envs/acrobot_v0/swing_up_obs_hard/idbastar_v0_opt_solution_v0.yaml b/envs/acrobot_v0/swing_up_obs_hard/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..08a5914
--- /dev/null
+++ b/envs/acrobot_v0/swing_up_obs_hard/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,1155 @@
+time_stamp: 5284.68
+cost: 5.66
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,0]
+goal: [3.14159,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00681537
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 567
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+info: "ddp_iterations=200;ddp_time=528.251848"
diff --git a/envs/acrobot_v0/swing_up_obs_hard/idbastar_v0_solution_v0.yaml b/envs/acrobot_v0/swing_up_obs_hard/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..0b1c814
--- /dev/null
+++ b/envs/acrobot_v0/swing_up_obs_hard/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,1119 @@
+time_stamp: 17729.4
+cost: 5.48
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,0]
+goal: [3.14159,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.000980218
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 549
+states:
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+ - [-0.114726]
+ - [-0.0561997]
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+ - [0.224461]
+ - [0.27763]
+ - [0.329604]
+ - [0.380283]
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+ - [0.523537]
+ - [0.567999]
+ - [0.610623]
+ - [0.651292]
+ - [0.689887]
+ - [0.726287]
+ - [0.760373]
+info: "ddp_iterations=149;ddp_time=354.333690"
diff --git a/envs/acrobot_v0/swing_up_obs_hard/rrt_to_v0_guess_v0.yaml b/envs/acrobot_v0/swing_up_obs_hard/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..4eb8bf8
--- /dev/null
+++ b/envs/acrobot_v0/swing_up_obs_hard/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,46 @@
+time_stamp: 5
+cost: 1.02927
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [0,0,0,0]
+goal: [-3.14159,0,0,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 8
+states:
+ - [0,0,0,0]
+ - [0.220336,0.460793,0,0]
+ - [0.297723,2.80046,0,0]
+ - [0.695195,-2.93964,0,0]
+ - [1.93193,-2.40379,0,0]
+ - [-2.75174,-2.0544,0,0]
+ - [-2.53528,-0.888827,0,0]
+ - [-3.14159,0,0,0]
+num_actions: 7
+actions:
+ - [0]
+ - [0]
+ - [0]
+ - [0]
+ - [0]
+ - [0]
+ - [0]
+num_times: 8
+times:
+ - 0
+ - 0.0575991
+ - 0.350057
+ - 0.417943
+ - 0.572535
+ - 0.772474
+ - 0.918171
+ - 1.02927
diff --git a/envs/acrobot_v0/swing_up_obs_hard/rrt_to_v0_solution_v0.yaml b/envs/acrobot_v0/swing_up_obs_hard/rrt_to_v0_solution_v0.yaml
new file mode 100644
index 0000000..5c92210
--- /dev/null
+++ b/envs/acrobot_v0/swing_up_obs_hard/rrt_to_v0_solution_v0.yaml
@@ -0,0 +1,609 @@
+time_stamp: 1.77479e-316
+cost: 2.93
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,0]
+goal: [3.14159,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00863994
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 294
+states:
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+ - [0.0246223,-0.0788096,0.962899,-3.08429]
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diff --git a/envs/car1_v0/bugtrap_0/idbastar_v0_db_solution_v0.yaml b/envs/car1_v0/bugtrap_0/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..a561289
--- /dev/null
+++ b/envs/car1_v0/bugtrap_0/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,530 @@
+time_stamp: 1955.64
+cost: 25.4
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [3.4,3,3.14,3.14]
+goal: [5.2,3,1.55,1.55]
+max_jump: 0.18113
+max_collision: 0
+goal_distance: 0.26358
+start_distance: 0.1025
+x_bound_distance: 0
+u_bound_distance: 2e-06
+num_states: 255
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diff --git a/envs/car1_v0/bugtrap_0/idbastar_v0_opt_solution_v0.yaml b/envs/car1_v0/bugtrap_0/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..5bb3dd4
--- /dev/null
+++ b/envs/car1_v0/bugtrap_0/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,407 @@
+time_stamp: 3512.42
+cost: 19.2
+feasible: 1
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+start: [3.4,3,3.14,3.14]
+goal: [5.2,3,1.55,1.55]
+max_jump: 0
+max_collision: 0
+goal_distance: 5.96944e-05
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 193
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+info: "ddp_iterations=3;ddp_time=43.230425"
diff --git a/envs/car1_v0/bugtrap_0/idbastar_v0_solution_v0.yaml b/envs/car1_v0/bugtrap_0/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..bf13851
--- /dev/null
+++ b/envs/car1_v0/bugtrap_0/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,403 @@
+time_stamp: 5881.16
+cost: 19
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [3.4,3,3.14,3.14]
+goal: [5.2,3,1.55,1.55]
+max_jump: 0
+max_collision: 0
+goal_distance: 7.64813e-05
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 191
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diff --git a/envs/car1_v0/bugtrap_0/rrt_to_v0_guess_v0.yaml b/envs/car1_v0/bugtrap_0/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..5f1a84c
--- /dev/null
+++ b/envs/car1_v0/bugtrap_0/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,52 @@
+time_stamp: 26
+cost: 25.1677
+feasible: 0
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+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [3.4,3,3.14,3.14]
+goal: [5.2,3,1.55,1.55]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 10
+states:
+ - [3.4,3,3.14,3.14]
+ - [1.66078,3.20877,-2.70984,-2.71844]
+ - [0.0990978,2.27597,-2.64853,-2.57815]
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+ - [5.73348,2.25469,1.68595,1.75287]
+ - [5.2,3,1.55,1.55]
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+ - [0,0]
+ - [0,0]
+ - [0,0]
+ - [0,0]
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+ - 0
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+ - 7.14152
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+ - 11.9388
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+ - 25.1677
diff --git a/envs/car1_v0/kink_0/idbastar_v0_db_solution_v0.yaml b/envs/car1_v0/kink_0/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..c48d970
--- /dev/null
+++ b/envs/car1_v0/kink_0/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,632 @@
+time_stamp: 4635.94
+cost: 30.5
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+start_feas: 0
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+u_bounds_feas: 1
+start: [0.5,4,1.55,1.55]
+goal: [5.5,4,1.55,1.55]
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+goal_distance: 0.295543
+start_distance: 0.09706
+x_bound_distance: 0
+u_bound_distance: 2e-06
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diff --git a/envs/car1_v0/kink_0/idbastar_v0_opt_solution_v0.yaml b/envs/car1_v0/kink_0/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..f044e4a
--- /dev/null
+++ b/envs/car1_v0/kink_0/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,535 @@
+time_stamp: 7104.4
+cost: 25.6
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0.5,4,1.55,1.55]
+goal: [5.5,4,1.55,1.55]
+max_jump: 0
+max_collision: 0
+goal_distance: 4.91418e-05
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 257
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diff --git a/envs/car1_v0/kink_0/idbastar_v0_solution_v0.yaml b/envs/car1_v0/kink_0/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..80257cd
--- /dev/null
+++ b/envs/car1_v0/kink_0/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,309 @@
+time_stamp: 49956.7
+cost: 14.3
+feasible: 1
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+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0.5,4,1.55,1.55]
+goal: [5.5,4,1.55,1.55]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.000738122
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 144
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+info: "ddp_iterations=26;ddp_time=471.832398"
diff --git a/envs/car1_v0/kink_0/rrt_to_v0_guess_v0.yaml b/envs/car1_v0/kink_0/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..bb7408c
--- /dev/null
+++ b/envs/car1_v0/kink_0/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,49 @@
+time_stamp: 2
+cost: 23.1739
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [0.5,4,1.55,1.55]
+goal: [5.5,4,1.55,1.55]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 9
+states:
+ - [0.5,4,1.55,1.55]
+ - [0.158208,2.43341,0.683546,0.678888]
+ - [0.770523,1.72816,-1.15904,-0.555039]
+ - [1.04414,0.090413,-0.597294,-1.23566]
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+ - [3.0254,0.402926,1.32001,1.40054]
+ - [4.69993,0.379153,1.45192,1.61553]
+ - [5.22182,2.74105,1.5159,1.57278]
+ - [5.5,4,1.55,1.55]
+num_actions: 8
+actions:
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+ - [0,0]
+ - [0,0]
+ - [0,0]
+ - [0,0]
+ - [0,0]
+ - [0,0]
+ - [0,0]
+num_times: 9
+times:
+ - 0
+ - 3.20689
+ - 5.07484
+ - 8.39572
+ - 12.119
+ - 12.4081
+ - 15.7575
+ - 20.5952
+ - 23.1739
diff --git a/envs/car1_v0/kink_0/rrt_to_v0_solution_v0.yaml b/envs/car1_v0/kink_0/rrt_to_v0_solution_v0.yaml
new file mode 100644
index 0000000..db42b73
--- /dev/null
+++ b/envs/car1_v0/kink_0/rrt_to_v0_solution_v0.yaml
@@ -0,0 +1,331 @@
+time_stamp: 1.17865e-316
+cost: 15.4
+feasible: 1
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+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0.5,4,1.55,1.55]
+goal: [5.5,4,1.55,1.55]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00268757
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 155
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diff --git a/envs/car1_v0/motions/car1_v0_all.bin.sp.bin.small.msgpack b/envs/car1_v0/motions/car1_v0_all.bin.sp.bin.small.msgpack
new file mode 100644
index 0000000..59372ab
Binary files /dev/null and b/envs/car1_v0/motions/car1_v0_all.bin.sp.bin.small.msgpack differ
diff --git a/envs/car1_v0/parallelpark_0/idbastar_v0_db_solution_v0.yaml b/envs/car1_v0/parallelpark_0/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..9cb89b4
--- /dev/null
+++ b/envs/car1_v0/parallelpark_0/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,296 @@
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diff --git a/envs/car1_v0/parallelpark_0/idbastar_v0_opt_solution_v0.yaml b/envs/car1_v0/parallelpark_0/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..676227c
--- /dev/null
+++ b/envs/car1_v0/parallelpark_0/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,181 @@
+time_stamp: 817.955
+cost: 7.9
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+max_collision: 0
+goal_distance: 0.000146395
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+info: "ddp_iterations=35;ddp_time=164.451474"
diff --git a/envs/car1_v0/parallelpark_0/idbastar_v0_solution_v0.yaml b/envs/car1_v0/parallelpark_0/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..c5b99ad
--- /dev/null
+++ b/envs/car1_v0/parallelpark_0/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,105 @@
+time_stamp: 3740.62
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+ - [0.5,-0.143557]
+ - [0.5,-0.218412]
+ - [0.5,-0.283843]
+ - [0.5,-0.342337]
+ - [0.5,-0.395489]
+ - [0.5,-0.444562]
+ - [0.5,-0.491219]
+ - [0.5,-0.537435]
+ - [0.5,-0.580421]
+ - [0.5,-0.603305]
+ - [0.5,-0.585202]
+ - [0.5,-0.521492]
+ - [0.5,-0.417196]
+ - [0.5,-0.340926]
+ - [0.5,-0.30203]
+ - [0.5,-0.0492153]
+ - [0.5,0.372431]
+ - [0.5,1.0472]
+ - [0.5,1.0472]
+ - [0.5,1.0472]
+ - [0.5,1.01768]
+ - [0.5,0.356503]
+ - [0.5,0.357824]
+ - [0.5,0.358667]
+ - [0.5,0.359417]
+ - [0.5,0.360071]
+ - [0.5,0.360627]
+ - [0.5,0.361014]
+ - [0.5,0.353036]
+ - [0.5,-0.452826]
+ - [0.5,-1.0472]
+ - [-0.1,1.0472]
+ - [-0.1,1.0472]
+ - [-0.1,1.0472]
+ - [-0.1,1.0472]
+ - [-0.1,0.741742]
+ - [-0.1,0.123287]
+ - [-0.1,-0.211811]
+ - [-0.1,-1.0472]
+info: "ddp_iterations=50;ddp_time=231.923898"
diff --git a/envs/car1_v0/parallelpark_0/rrt_to_v0_guess_v0.yaml b/envs/car1_v0/parallelpark_0/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..6e2ddc9
--- /dev/null
+++ b/envs/car1_v0/parallelpark_0/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,31 @@
+time_stamp: 1
+cost: 4.94319
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [0.7,0.6,0,0]
+goal: [1.9,0.2,0,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 3
+states:
+ - [0.7,0.6,0,0]
+ - [1.71639,1.37762,0.53911,-0.00194387]
+ - [1.9,0.2,0,0]
+num_actions: 2
+actions:
+ - [0,0]
+ - [0,0]
+num_times: 3
+times:
+ - 0
+ - 2.55949
+ - 4.94319
diff --git a/envs/car1_v0/parallelpark_0/rrt_to_v0_solution_v0.yaml b/envs/car1_v0/parallelpark_0/rrt_to_v0_solution_v0.yaml
new file mode 100644
index 0000000..17cebd2
--- /dev/null
+++ b/envs/car1_v0/parallelpark_0/rrt_to_v0_solution_v0.yaml
@@ -0,0 +1,119 @@
+time_stamp: 1.23291e-316
+cost: 4.8
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0.7,0.6,0,0]
+goal: [1.9,0.2,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00808279
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 49
+states:
+ - [0.7,0.6,0,0]
+ - [0.74409,0.6,0.067515,0]
+ - [0.780443,0.602458,0.0948646,0.00491609]
+ - [0.814382,0.605687,0.108372,0.011041]
+ - [0.847629,0.609305,0.11303,0.0175408]
+ - [0.881251,0.613121,0.109976,0.0239933]
+ - [0.916668,0.617032,0.0976174,0.0301133]
+ - [0.957169,0.620998,0.0673816,0.0356033]
+ - [1.00599,0.624293,0.00250955,0.0387128]
+ - [1.05599,0.624418,-0.0933531,0.0350933]
+ - [1.10577,0.619758,-0.375576,0.0222839]
+ - [1.15229,0.601417,-0.721986,-0.0164607]
+ - [1.18981,0.568373,-0.854183,-0.0813041]
+ - [1.22249,0.530861,-0.93623,-0.150773]
+ - [1.24986,0.493687,-1.00163,-0.216057]
+ - [1.27441,0.455313,-1.06616,-0.280495]
+ - [1.29608,0.416071,-1.12965,-0.34391]
+ - [1.31491,0.376204,-1.19208,-0.406281]
+ - [1.33094,0.335899,-1.2535,-0.467653]
+ - [1.34442,0.294866,-1.31452,-0.528759]
+ - [1.35296,0.26229,-1.34695,-0.576402]
+ - [1.35737,0.242914,-1.35368,-0.604084]
+ - [1.36138,0.224726,-1.35792,-0.629465]
+ - [1.36462,0.209723,-1.35946,-0.6499]
+ - [1.36954,0.186776,-1.35957,-0.680482]
+ - [1.38003,0.137887,-1.27067,-0.74329]
+ - [1.39481,0.090122,-0.924256,-0.793617]
+ - [1.42493,0.0502134,-0.577845,-0.806643]
+ - [1.46681,0.0229024,-0.231435,-0.783963]
+ - [1.51548,0.0114337,0.059759,-0.731479]
+ - [1.56539,0.0144199,0.136492,-0.660356]
+ - [1.61493,0.0212233,0.210866,-0.588841]
+ - [1.66382,0.0316887,0.285349,-0.517125]
+ - [1.7118,0.0457633,0.359938,-0.445218]
+ - [1.75859,0.0633741,0.434614,-0.373124]
+ - [1.80394,0.0844271,0.509356,-0.300851]
+ - [1.8476,0.108808,0.58414,-0.228408]
+ - [1.88931,0.136382,0.658764,-0.155804]
+ - [1.92884,0.166989,0.713762,-0.0830611]
+ - [1.96664,0.199723,0.367351,-0.0115473]
+ - [1.98426,0.206503,0.236554,0.00241926]
+ - [1.97454,0.20416,0.167272,-0.00222077]
+ - [1.96468,0.202495,0.0979898,-0.00559441]
+ - [1.95472,0.201516,0.0287076,-0.00766239]
+ - [1.94473,0.201229,-0.0405745,-0.00838963]
+ - [1.93474,0.201635,-0.0660814,-0.00774605]
+ - [1.92476,0.202295,-0.0730262,-0.00658]
+ - [1.91479,0.203025,-0.0693188,-0.00525206]
+ - [1.90481,0.203718,-3.67081e-05,-0.0039716]
+num_actions: 48
+actions:
+ - [0.440905,0.36561]
+ - [0.364351,0.185503]
+ - [0.340925,0.0987258]
+ - [0.334433,0.0348063]
+ - [0.338382,-0.0225597]
+ - [0.356323,-0.0864913]
+ - [0.406951,-0.183653]
+ - [0.489338,-0.320034]
+ - [0.5,-0.446962]
+ - [0.5,-0.954282]
+ - [0.5,-1.0472]
+ - [0.5,-0.584058]
+ - [0.497488,-0.39107]
+ - [0.461599,-0.340438]
+ - [0.455563,-0.340326]
+ - [0.448294,-0.340279]
+ - [0.440875,-0.340273]
+ - [0.433792,-0.3402]
+ - [0.43189,-0.339544]
+ - [0.336763,-0.236214]
+ - [0.198716,-0.0845057]
+ - [0.186253,-0.0568874]
+ - [0.153486,-0.0249695]
+ - [0.2347,-0.00116139]
+ - [0.5,0.418274]
+ - [0.5,1.0472]
+ - [0.5,1.0472]
+ - [0.5,1.0472]
+ - [0.5,0.968965]
+ - [0.5,0.366347]
+ - [0.5,0.356023]
+ - [0.5,0.3565]
+ - [0.5,0.35697]
+ - [0.5,0.357349]
+ - [0.5,0.357637]
+ - [0.5,0.357823]
+ - [0.5,0.357124]
+ - [0.5,0.268355]
+ - [0.5,-1.0472]
+ - [0.188789,-1.0472]
+ - [-0.1,1.0472]
+ - [-0.1,1.0472]
+ - [-0.1,1.0472]
+ - [-0.1,1.0472]
+ - [-0.1,0.567661]
+ - [-0.1,0.171907]
+ - [-0.1,-0.0924212]
+ - [-0.1,-1.0472]
+info: "ddp_iterations=50;ddp_time=206.840604"
diff --git a/envs/integrator2_2d_v0/park.yaml b/envs/integrator2_2d_v0/park.yaml
index 79f85b8..5bba932 100644
--- a/envs/integrator2_2d_v0/park.yaml
+++ b/envs/integrator2_2d_v0/park.yaml
@@ -10,6 +10,6 @@ environment:
center: [2.7, 0.2]
size: [0.5, 0.25]
robots:
- - type: Integrator2_2d_v0
+ - type: integrator2_2d_v0
start: [0.7, 0.6, 0, 0] # x,y,theta0,theta1
goal: [1.9, 0.2, 0, 0] # x,y,theta0,theta1
diff --git a/envs/multirotor2d_v0/empty_0.yaml b/envs/multirotor2d_v0_ERASE_ME/empty_0.yaml
similarity index 100%
rename from envs/multirotor2d_v0/empty_0.yaml
rename to envs/multirotor2d_v0_ERASE_ME/empty_0.yaml
diff --git a/envs/multirotor2d_v0/empty_1.yaml b/envs/multirotor2d_v0_ERASE_ME/empty_1.yaml
similarity index 100%
rename from envs/multirotor2d_v0/empty_1.yaml
rename to envs/multirotor2d_v0_ERASE_ME/empty_1.yaml
diff --git a/envs/multirotor2d_v0/fall_through.yaml b/envs/multirotor2d_v0_ERASE_ME/fall_through.yaml
similarity index 100%
rename from envs/multirotor2d_v0/fall_through.yaml
rename to envs/multirotor2d_v0_ERASE_ME/fall_through.yaml
diff --git a/envs/multirotor2d_v0/quad2d_recovery_obs.yaml b/envs/multirotor2d_v0_ERASE_ME/quad2d_recovery_obs.yaml
similarity index 100%
rename from envs/multirotor2d_v0/quad2d_recovery_obs.yaml
rename to envs/multirotor2d_v0_ERASE_ME/quad2d_recovery_obs.yaml
diff --git a/envs/multirotor2d_v0/quad2d_recovery_wo_obs.yaml b/envs/multirotor2d_v0_ERASE_ME/quad2d_recovery_wo_obs.yaml
similarity index 100%
rename from envs/multirotor2d_v0/quad2d_recovery_wo_obs.yaml
rename to envs/multirotor2d_v0_ERASE_ME/quad2d_recovery_wo_obs.yaml
diff --git a/envs/multirotor2d_v0/quad_bugtrap.yaml b/envs/multirotor2d_v0_ERASE_ME/quad_bugtrap.yaml
similarity index 100%
rename from envs/multirotor2d_v0/quad_bugtrap.yaml
rename to envs/multirotor2d_v0_ERASE_ME/quad_bugtrap.yaml
diff --git a/envs/multirotor2d_v0/quad_obs_column.yaml b/envs/multirotor2d_v0_ERASE_ME/quad_obs_column.yaml
similarity index 100%
rename from envs/multirotor2d_v0/quad_obs_column.yaml
rename to envs/multirotor2d_v0_ERASE_ME/quad_obs_column.yaml
diff --git a/envs/multirotor2d_v0/trajectories/quad2d_recovery_good_init_guess.yaml b/envs/multirotor2d_v0_ERASE_ME/trajectories/quad2d_recovery_good_init_guess.yaml
similarity index 100%
rename from envs/multirotor2d_v0/trajectories/quad2d_recovery_good_init_guess.yaml
rename to envs/multirotor2d_v0_ERASE_ME/trajectories/quad2d_recovery_good_init_guess.yaml
diff --git a/envs/quad2d_v0/empty_0.yaml b/envs/quad2d_v0/empty_0.yaml
new file mode 100644
index 0000000..d10346b
--- /dev/null
+++ b/envs/quad2d_v0/empty_0.yaml
@@ -0,0 +1,9 @@
+name: quad2d_v0-empty_0
+environment:
+ min: [-1, -1]
+ max: [1, 2]
+ obstacles: []
+robots:
+ - type: quad2d_v0
+ start: [0, 0, 0, 0, 0, 0]
+ goal: [0, 1, 0, 0, 0, 0]
diff --git a/envs/quad2d_v0/empty_0/idbastar_v0_db_solution_v0.yaml b/envs/quad2d_v0/empty_0/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..9860663
--- /dev/null
+++ b/envs/quad2d_v0/empty_0/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,230 @@
+time_stamp: 35.8316
+cost: 1.04
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,0,0,0]
+goal: [0,1,0,0,0,0]
+max_jump: 0.178614
+max_collision: 0
+goal_distance: 0.493435
+start_distance: 0.0540643
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 105
+states:
+ - [-8.62193e-08,-7.94121e-08,0.0326291,-7.96965e-08,4.53157e-08,0.188748]
+ - [-8.70162e-08,-7.89589e-08,0.0345166,-0.00416053,0.0293622,0.188748]
+ - [-4.16923e-05,0.000293543,0.036404,-0.00856155,0.0587162,0.188748]
+ - [-0.000127308,0.000880705,0.0382915,-0.0132031,0.0880617,0.188748]
+ - [-0.000259339,0.00176132,0.040179,-0.0180831,0.117343,0.190632]
+ - [-0.00044017,0.00293475,0.0420853,-0.0232054,0.14666,0.190966]
+ - [-0.000672224,0.00440135,0.043995,-0.0285709,0.175977,0.190966]
+ - [-0.000957934,0.00616112,0.0459046,-0.0341798,0.205284,0.190966]
+ - [-0.00129973,0.00821396,0.0478143,-0.040032,0.234579,0.190983]
+ - [-0.00170005,0.0105598,0.0497241,-0.0461273,0.263862,0.191033]
+ - [-0.00216132,0.0131984,0.0516345,-0.0524568,0.292948,0.197353]
+ - [-0.00268589,0.0161279,0.053608,-0.0590203,0.32185,0.209544]
+ - [-0.0032761,0.0193464,0.0557034,-0.0658044,0.35018,0.24078]
+ - [-0.00393414,0.0228482,0.0581112,-0.072786,0.377285,0.313208]
+ - [-0.004662,0.026621,0.0612433,-0.0798147,0.400002,0.534512]
+ - [-0.00546015,0.030621,0.0665884,-0.0869838,0.418815,0.888031]
+ - [-0.00632999,0.0348092,0.0754688,-0.0946564,0.435768,1.30354]
+ - [-0.00727655,0.0391669,0.0885041,-0.103387,0.453137,1.7024]
+ - [-0.00831042,0.0436982,0.105528,-0.113839,0.472818,2.01815]
+ - [-0.00944887,0.0484265,0.100678,-0.126612,0.495309,1.97376]
+ - [-0.010715,0.0533795,0.120416,-0.133021,0.460651,-0.19425]
+ - [-0.0120452,0.057986,0.118473,-0.145567,0.466238,-0.979201]
+ - [-0.0135009,0.0626484,0.108681,-0.16064,0.494774,-0.979201]
+ - [-0.0151073,0.0675962,0.098889,-0.174473,0.523451,-0.979201]
+ - [-0.016852,0.0728307,0.089097,-0.187064,0.552258,-0.979201]
+ - [-0.0187226,0.0783533,0.079305,-0.198412,0.581182,-0.979201]
+ - [-0.0207068,0.0841651,0.069513,-0.208515,0.610211,-0.979201]
+ - [-0.0227919,0.0902672,0.059721,-0.217373,0.639333,-0.979201]
+ - [-0.0249656,0.0966605,0.049929,-0.224984,0.668536,-0.979201]
+ - [-0.0272155,0.103346,0.0401369,-0.231349,0.697807,-0.979201]
+ - [-0.029529,0.110324,0.0303449,-0.236466,0.727135,-0.979201]
+ - [-0.0318936,0.117595,0.0205529,-0.240336,0.756506,-0.979201]
+ - [-0.034297,0.12516,0.0107609,-0.242957,0.785909,-0.979201]
+ - [-0.0367266,0.133019,0.000968886,-0.244329,0.815331,-0.979201]
+ - [-0.0391698,0.141173,-0.00882313,-0.244452,0.844761,-0.979201]
+ - [-0.0416144,0.14962,-0.0186151,-0.243327,0.874186,-0.979201]
+ - [-0.0440476,0.158362,-0.0284072,-0.240953,0.903594,-0.979201]
+ - [-0.0464572,0.167398,-0.0381992,-0.237331,0.932973,-0.979201]
+ - [-0.0488305,0.176728,-0.0479912,-0.232461,0.96231,-0.979201]
+ - [-0.0511551,0.186351,-0.0577832,-0.226388,0.990658,-0.947365]
+ - [-0.053419,0.196258,-0.0672568,-0.21912,1.0182,-0.890296]
+ - [-0.0556102,0.20644,-0.0761598,-0.210681,1.04538,-0.823605]
+ - [-0.057717,0.216893,-0.0843959,-0.201131,1.07243,-0.754879]
+ - [-0.0597283,0.227618,-0.0919446,-0.190548,1.09944,-0.687671]
+ - [-0.0616338,0.238612,-0.0988214,-0.179012,1.12645,-0.623498]
+ - [-0.0634239,0.249877,-0.105056,-0.166604,1.1535,-0.563427]
+ - [-0.0650899,0.261411,-0.110691,-0.153403,1.18059,-0.507659]
+ - [-0.066624,0.273217,-0.115767,-0.139483,1.20774,-0.456127]
+ - [-0.0680188,0.285295,-0.120328,-0.124914,1.23492,-0.408481]
+ - [-0.0692679,0.297644,-0.124413,-0.109761,1.26214,-0.36437]
+ - [-0.0703655,0.310265,-0.128057,-0.0940847,1.28939,-0.323428]
+ - [-0.0713064,0.323159,-0.131291,-0.0779416,1.31666,-0.285255]
+ - [-0.0720858,0.336326,-0.134144,-0.0613814,1.34397,-0.250116]
+ - [-0.0726996,0.349766,-0.136645,-0.0444522,1.37131,-0.217863]
+ - [-0.0731441,0.363479,-0.138824,-0.0271986,1.39869,-0.188261]
+ - [-0.0734161,0.377466,-0.140706,-0.00966209,1.4261,-0.161028]
+ - [-0.0735127,0.391727,-0.142316,0.0081195,1.45354,-0.135929]
+ - [-0.0734315,0.406262,-0.143676,0.0261113,1.48101,-0.112765]
+ - [-0.0731704,0.421072,-0.144803,0.0442811,1.5085,-0.0913512]
+ - [-0.0727276,0.436157,-0.145717,0.0625991,1.53602,-0.0714889]
+ - [-0.0721016,0.451517,-0.146432,0.0810377,1.56356,-0.0529941]
+ - [-0.0712912,0.467153,-0.146962,0.0995711,1.59112,-0.0356667]
+ - [-0.0702955,0.483064,-0.147318,0.118175,1.61869,-0.0192232]
+ - [-0.0691138,0.499251,-0.147511,0.136824,1.64627,-0.00294646]
+ - [-0.0677455,0.515714,-0.14754,0.155504,1.67388,0.0119294]
+ - [-0.0661905,0.532452,-0.147421,0.174198,1.70157,0.0242871]
+ - [-0.0644485,0.549468,-0.147178,0.192882,1.72929,0.0355774]
+ - [-0.0625197,0.566761,-0.146822,0.211539,1.75704,0.0459338]
+ - [-0.0604043,0.584331,-0.146363,0.230155,1.78482,0.0554731]
+ - [-0.0581028,0.60218,-0.145808,0.248717,1.81263,0.0642118]
+ - [-0.0556156,0.620306,-0.145166,0.267211,1.84047,0.0724169]
+ - [-0.0529435,0.63871,-0.144442,0.285628,1.86835,0.079588]
+ - [-0.0500872,0.657394,-0.143646,0.303959,1.89627,0.0856084]
+ - [-0.0470476,0.676357,-0.14279,0.322199,1.92427,0.0895275]
+ - [-0.0438256,0.695599,-0.141895,0.340341,1.95236,0.0910118]
+ - [-0.0404222,0.715123,-0.140984,0.358374,1.9805,0.0915621]
+ - [-0.0368385,0.734928,-0.140069,0.376294,2.00866,0.0915621]
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diff --git a/envs/quad2d_v0/empty_0/idbastar_v0_opt_solution_v0.yaml b/envs/quad2d_v0/empty_0/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..830de5a
--- /dev/null
+++ b/envs/quad2d_v0/empty_0/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,219 @@
+time_stamp: 96.3347
+cost: 0.98
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,0,0,0]
+goal: [0,1,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00344725
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0.000189239
+num_states: 99
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+ - [1.29991,1.29991]
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+ - [1.11501,1.11501]
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+ - [1.04901,1.04901]
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+ - [0.862842,0.862841]
+ - [0.827254,0.827252]
+ - [0.792447,0.792446]
+ - [0.758365,0.758364]
+ - [0.724952,0.724952]
+ - [0.692153,0.692153]
+ - [0.659909,0.659909]
+ - [0.62817,0.628171]
+ - [0.596883,0.596885]
+ - [0.566001,0.566003]
+ - [0.535477,0.535479]
+ - [0.505268,0.505271]
+ - [0.475336,0.475339]
+ - [0.445639,0.445642]
+ - [0.416141,0.416144]
+ - [0.386789,0.386792]
+ - [0.357545,0.357547]
+ - [0.328363,0.328364]
+ - [0.299219,0.29922]
+ - [0.270092,0.270093]
+ - [0.240981,0.240981]
+ - [0.211868,0.211867]
+ - [0.182713,0.182712]
+ - [0.153434,0.153433]
+ - [0.123903,0.123902]
+ - [0.0939386,0.0939374]
+ - [0.0633679,0.0633666]
+ - [0.0320274,0.0320258]
+ - [-0.000186828,-0.000189239]
+ - [9.74808e-05,9.74782e-05]
+info: "ddp_iterations=47;ddp_time=30.701953"
diff --git a/envs/quad2d_v0/empty_0/idbastar_v0_solution_v0.yaml b/envs/quad2d_v0/empty_0/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..9143df8
--- /dev/null
+++ b/envs/quad2d_v0/empty_0/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,215 @@
+time_stamp: 185.802
+cost: 0.96
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,0,0,0]
+goal: [0,1,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00454158
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 97
+states:
+ - [0,0,0,0,0,0]
+ - [0,0,0,0,0.0294272,-1.61411e-09]
+ - [0,0.000294272,-1.61409e-11,0,0.0588543,-3.10789e-09]
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+ - [2.65987e-09,0.469621,-1.73923e-11,1.13941e-08,1.67715,2.23516e-08]
+ - [2.77381e-09,0.486392,2.06124e-10,1.13963e-08,1.70657,2.27396e-08]
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+ - [1.00736e-09,0.951514,-7.46679e-08,-1.97185e-09,0.871231,2.69063e-06]
+ - [9.87645e-10,0.960227,-4.77616e-08,-1.39293e-09,0.780885,2.60461e-06]
+ - [9.73716e-10,0.968035,-2.17155e-08,-1.204e-09,0.68674,1.72797e-06]
+ - [9.61676e-10,0.974903,-4.43575e-09,-1.19934e-09,0.588855,1.8234e-08]
+ - [9.49682e-10,0.980791,-4.25341e-09,-1.1993e-09,0.490765,1.60043e-08]
+ - [9.37689e-10,0.985699,-4.09336e-09,-1.19926e-09,0.392674,1.33303e-08]
+ - [9.25697e-10,0.989626,-3.96006e-09,-1.19922e-09,0.294583,1.04147e-08]
+ - [9.13705e-10,0.992572,-3.85591e-09,-1.19918e-09,0.196493,7.38635e-09]
+ - [9.01713e-10,0.994537,-3.78205e-09,-1.19915e-09,0.0984016,4.22346e-09]
+ - [8.89721e-10,0.995521,-3.73981e-09,-1.19912e-09,0.000310502,9.26641e-10]
+num_actions: 96
+actions:
+ - [1.29997,1.29997]
+ - [1.29997,1.29997]
+ - [1.29997,1.29997]
+ - [1.29997,1.29997]
+ - [1.29997,1.29997]
+ - [1.29996,1.29996]
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+ - [1.29996,1.29996]
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+ - [1.29995,1.29995]
+ - [1.29995,1.29995]
+ - [1.29995,1.29995]
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+ - [1.29994,1.29994]
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+ - [1.29994,1.29994]
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+ - [1.29992,1.29992]
+ - [1.29992,1.29992]
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+ - [0.879154,0.879154]
+ - [0.828605,0.828605]
+ - [0.779754,0.779754]
+ - [0.73249,0.73249]
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+ - [0.642049,0.642049]
+ - [0.59854,0.59854]
+ - [0.555968,0.555968]
+ - [0.514203,0.514203]
+ - [0.473115,0.473115]
+ - [0.432604,0.432604]
+ - [0.392566,0.392565]
+ - [0.352907,0.352907]
+ - [0.313527,0.313526]
+ - [0.274336,0.274336]
+ - [0.235251,0.23525]
+ - [0.196195,0.196194]
+ - [0.157118,0.157117]
+ - [0.118033,0.118032]
+ - [0.0790333,0.0790334]
+ - [0.0403223,0.0403228]
+ - [0.00218896,0.00218998]
+ - [9.74311e-05,9.74324e-05]
+ - [9.61618e-05,9.61634e-05]
+ - [9.48319e-05,9.48337e-05]
+ - [9.3485e-05,9.34868e-05]
+ - [9.21174e-05,9.21193e-05]
+ - [9.07306e-05,9.07325e-05]
+info: "ddp_iterations=32;ddp_time=21.854465"
diff --git a/envs/quad2d_v0/empty_0/rrt_to_v0_guess_v0.yaml b/envs/quad2d_v0/empty_0/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..00d5e2e
--- /dev/null
+++ b/envs/quad2d_v0/empty_0/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,28 @@
+time_stamp: 0
+cost: 0.25
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [0,0,0,0,0,0]
+goal: [0,1,0,0,0,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 2
+states:
+ - [0,0,0,0,0,0]
+ - [0,1,0,0,0,0]
+num_actions: 1
+actions:
+ - [1,1]
+num_times: 2
+times:
+ - 0
+ - 0.25
diff --git a/envs/quad2d_v0/empty_0/rrt_to_v0_solution_v0.yaml b/envs/quad2d_v0/empty_0/rrt_to_v0_solution_v0.yaml
new file mode 100644
index 0000000..831fdf8
--- /dev/null
+++ b/envs/quad2d_v0/empty_0/rrt_to_v0_solution_v0.yaml
@@ -0,0 +1,217 @@
+time_stamp: 1.73484e-316
+cost: 0.97
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,0,0,0]
+goal: [0,1,0,0,0,0]
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+max_collision: 0
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+ - [9.43621e-05,9.4362e-05]
+info: "ddp_iterations=37;ddp_time=22.723716"
diff --git a/envs/quad2d_v0/empty_0/run_0_out.yaml.traj-sol.yaml b/envs/quad2d_v0/empty_0/run_0_out.yaml.traj-sol.yaml
new file mode 100644
index 0000000..fa38417
--- /dev/null
+++ b/envs/quad2d_v0/empty_0/run_0_out.yaml.traj-sol.yaml
@@ -0,0 +1,215 @@
+time_stamp: 68.8707
+cost: 0.96
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,0,0,0]
+goal: [0,1,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00452979
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 7.14598e-05
+num_states: 97
+states:
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+info: "ddp_iterations=35;ddp_time=8.723071"
diff --git a/envs/quad2d_v0/empty_0/run_0_out.yaml.trajraw-0.yaml b/envs/quad2d_v0/empty_0/run_0_out.yaml.trajraw-0.yaml
new file mode 100644
index 0000000..216cd0c
--- /dev/null
+++ b/envs/quad2d_v0/empty_0/run_0_out.yaml.trajraw-0.yaml
@@ -0,0 +1,230 @@
+time_stamp: 8.24139
+cost: 1.04
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,0,0,0]
+goal: [0,1,0,0,0,0]
+max_jump: 0.178614
+max_collision: 0
+goal_distance: 0.493434
+start_distance: 0.0540642
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 105
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+ - [0.0153142,0.9598,-0.471512,0.453094,1.34925,-0.308902]
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+ - [0.0382064,1.01791,-0.488784,0.470447,0.892065,-0.393195]
+ - [0.0429109,1.02683,-0.492716,0.477192,0.806648,-0.408916]
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+ - [0.052533,1.04213,-0.501062,0.493943,0.641487,-0.443618]
+ - [0.0574724,1.04855,-0.505498,0.503951,0.561661,-0.462604]
+ - [0.0625119,1.05416,-0.510124,0.515055,0.483624,-0.482247]
+ - [0.0676625,1.059,-0.514946,0.527264,0.407345,-0.501895]
+ - [0.0729351,1.06307,-0.462797,0.540596,0.332804,0.169878]
+ - [0.078341,1.0664,-0.461098,0.542201,0.237921,0.0476344]
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+ - [0.0891973,1.0702,-0.461082,0.544367,0.0460834,-0.117976]
+ - [0.094641,1.07066,-0.462262,0.545094,-0.0505533,-0.173528]
+num_actions: 104
+actions:
+ - [1.3,1.3]
+ - [1.3,1.3]
+ - [1.3,1.3]
+ - [1.3,1.29887]
+ - [1.3,1.2998]
+ - [1.3,1.3]
+ - [1.3,1.3]
+ - [1.3,1.29999]
+ - [1.3,1.29997]
+ - [1.3,1.29621]
+ - [1.3,1.29269]
+ - [1.3,1.28127]
+ - [1.3,1.25657]
+ - [1.3,1.1673]
+ - [1.3,1.08802]
+ - [1.3,1.05085]
+ - [1.3,1.06083]
+ - [1.3,1.11067]
+ - [1.3,1.17228]
+ - [0,1.3]
+ - [0.829321,1.3]
+ - [1.3,1.3]
+ - [1.3,1.3]
+ - [1.3,1.3]
+ - [1.3,1.3]
+ - [1.3,1.3]
+ - [1.3,1.3]
+ - [1.3,1.3]
+ - [1.3,1.3]
+ - [1.3,1.3]
+ - [1.3,1.3]
+ - [1.3,1.3]
+ - [1.3,1.3]
+ - [1.3,1.3]
+ - [1.3,1.3]
+ - [1.3,1.3]
+ - [1.3,1.3]
+ - [1.3,1.3]
+ - [1.3,1.28091]
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+ - [1.3,1.25879]
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+ - [1.3,1.29379]
+ - [1.3,1.29428]
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+ - [1.3,1.29508]
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+ - [1.3,1.3]
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+ - [0,0.0211031]
+ - [0,0.0178524]
+ - [0,0.0160866]
+ - [0.0221774,0.0346276]
+ - [0.0480527,0.0586363]
+ - [0.0723728,0.0818506]
+ - [0.0959112,0.104914]
+ - [0.119158,0.128188]
+ - [0.141716,0.151143]
+ - [0.163756,0.173807]
+ - [0.185376,0.196133]
+ - [0.206699,0.218084]
+ - [0.227857,0.239635]
+ - [0.248999,0.260781]
+ - [0.270301,0.281565]
+ - [0,0.0733007]
+ - [0,0.0561846]
+ - [0,0.0431202]
+ - [0,0.0333104]
diff --git a/envs/quad2d_v0/empty_0/run_0_out.yaml.trajraw-4.yaml b/envs/quad2d_v0/empty_0/run_0_out.yaml.trajraw-4.yaml
new file mode 100644
index 0000000..aa74fa6
--- /dev/null
+++ b/envs/quad2d_v0/empty_0/run_0_out.yaml.trajraw-4.yaml
@@ -0,0 +1,180 @@
+time_stamp: 234.42
+cost: 0.79
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,0,0,0]
+goal: [0,1,0,0,0,0]
+max_jump: 0.0350932
+max_collision: 0
+goal_distance: 0.300706
+start_distance: 8.32263e-08
+x_bound_distance: 0
+u_bound_distance: 7.16829e-05
+num_states: 80
+states:
+ - [-3.47658e-08,5.43513e-08,3.2323e-09,3.87022e-08,-4.34186e-08,2.72911e-08]
+ - [-3.43788e-08,5.39171e-08,3.50521e-09,3.829e-08,0.029437,2.87368e-08]
+ - [-3.39959e-08,0.000294424,3.79258e-09,3.7843e-08,0.0588738,3.00938e-08]
+ - [-3.36175e-08,0.000883162,4.09352e-09,3.73593e-08,0.0883106,3.13607e-08]
+ - [-3.32439e-08,0.00176627,4.40713e-09,3.68372e-08,0.117747,3.25362e-08]
+ - [-3.28755e-08,0.00294374,4.73249e-09,3.62751e-08,0.147184,3.36189e-08]
+ - [-3.25128e-08,0.00441558,5.06868e-09,3.56716e-08,0.17662,3.46075e-08]
+ - [-3.21561e-08,0.00618178,5.41475e-09,3.50251e-08,0.206056,3.55008e-08]
+ - [-3.18058e-08,0.00824234,5.76976e-09,3.43345e-08,0.235492,3.62976e-08]
+ - [-3.14625e-08,0.0105973,6.13274e-09,3.35987e-08,0.264928,3.69967e-08]
+ - [-3.11265e-08,0.0132465,6.5027e-09,3.28165e-08,0.294364,3.75971e-08]
+ - [-3.07983e-08,0.0161902,6.87867e-09,3.19872e-08,0.3238,3.80976e-08]
+ - [-3.04784e-08,0.0194282,7.25965e-09,3.11099e-08,0.353235,3.84975e-08]
+ - [-3.01673e-08,0.0229605,7.64463e-09,3.01841e-08,0.382671,3.87957e-08]
+ - [-2.98655e-08,0.0267872,8.03258e-09,2.92091e-08,0.412106,3.89915e-08]
+ - [-2.95734e-08,0.0309083,8.4225e-09,2.81847e-08,0.441541,3.90842e-08]
+ - [-2.92916e-08,0.0353237,8.81334e-09,2.71105e-08,0.470976,3.90731e-08]
+ - [-2.90205e-08,0.0400335,9.20407e-09,2.59865e-08,0.500411,3.89578e-08]
+ - [-2.87606e-08,0.0450376,9.59365e-09,2.48127e-08,0.529846,3.87378e-08]
+ - [-2.85125e-08,0.050336,9.98103e-09,2.35891e-08,0.55928,3.84128e-08]
+ - [-1.89774e-08,0.0559289,2.46097e-08,1.05681e-09,0.588715,-4.61335e-09]
+ - [-1.89668e-08,0.0618161,2.45635e-08,-2.08183e-09,0.618152,-3.55954e-07]
+ - [-1.89876e-08,0.0679976,2.1004e-08,-5.21459e-09,0.647589,-6.50511e-07]
+ - [-1.90398e-08,0.0744735,1.44989e-08,-7.89337e-09,0.677025,-8.91101e-07]
+ - [-1.91187e-08,0.0812437,5.58789e-09,-9.74251e-09,0.706462,-1.08049e-06]
+ - [-1.92161e-08,0.0883083,-5.21698e-09,-1.04552e-08,0.735898,-1.22138e-06]
+ - [-1.93207e-08,0.0956673,-1.74308e-08,-9.78982e-09,0.765335,-1.31643e-06]
+ - [-1.94186e-08,0.103321,-3.0595e-08,-7.56676e-09,0.794771,-1.36823e-06]
+ - [-1.94942e-08,0.111268,-4.42774e-08,-3.66479e-09,0.824207,-1.37934e-06]
+ - [-1.95309e-08,0.11951,-5.80708e-08,1.98216e-09,0.853643,-1.35224e-06]
+ - [-1.95111e-08,0.128047,-7.15931e-08,9.38826e-09,0.883079,-1.28935e-06]
+ - [-1.94172e-08,0.136878,-8.44867e-08,1.85189e-08,0.912514,-1.19307e-06]
+ - [-1.9232e-08,0.146003,-9.64174e-08,2.9294e-08,0.94195,-1.06571e-06]
+ - [-1.89391e-08,0.155422,-1.07074e-07,4.15906e-08,0.971385,-9.09525e-07]
+ - [-1.85232e-08,0.165136,-1.1617e-07,5.52464e-08,1.00082,-7.26737e-07]
+ - [-1.79707e-08,0.175144,-1.23437e-07,7.00621e-08,1.03026,-5.19495e-07]
+ - [-1.72701e-08,0.185447,-1.28632e-07,8.58047e-08,1.05969,-2.89893e-07]
+ - [-1.6412e-08,0.196044,-1.31531e-07,1.0221e-07,1.08913,-3.99719e-08]
+ - [-1.53899e-08,0.206935,-1.31931e-07,1.18985e-07,1.11856,2.28286e-07]
+ - [-1.42001e-08,0.218121,-1.29648e-07,1.3581e-07,1.148,5.12955e-07]
+ - [4.42125e-08,0.229601,-2.33749e-07,2.48203e-07,1.17743,7.62417e-07]
+ - [4.66946e-08,0.241375,-2.26125e-07,2.78014e-07,1.20686,1.07436e-06]
+ - [4.94747e-08,0.253444,-2.15382e-07,3.06853e-07,1.2363,1.39727e-06]
+ - [5.25432e-08,0.265807,-2.01409e-07,3.34322e-07,1.26573,1.72946e-06]
+ - [5.58865e-08,0.278464,-1.84114e-07,3.60008e-07,1.29517,2.06929e-06]
+ - [5.94865e-08,0.291416,-1.63421e-07,3.83489e-07,1.3246,2.41517e-06]
+ - [6.33214e-08,0.304662,-1.3927e-07,4.04331e-07,1.35403,2.76557e-06]
+ - [6.73647e-08,0.318202,-1.11614e-07,4.22092e-07,1.38347,3.11903e-06]
+ - [7.15857e-08,0.332037,-8.04235e-08,4.36327e-07,1.4129,3.47414e-06]
+ - [7.59489e-08,0.346166,-4.56821e-08,4.46583e-07,1.44233,3.82953e-06]
+ - [8.04148e-08,0.360589,-7.38679e-09,4.52409e-07,1.47177,4.18392e-06]
+ - [8.49389e-08,0.375307,3.44524e-08,4.53352e-07,1.5012,4.53606e-06]
+ - [8.94724e-08,0.390319,7.9813e-08,4.48958e-07,1.53063,4.88477e-06]
+ - [9.39619e-08,0.405625,1.28661e-07,4.38779e-07,1.56007,5.22893e-06]
+ - [9.83497e-08,0.421226,1.8095e-07,4.2237e-07,1.5895,5.56746e-06]
+ - [1.02573e-07,0.437121,2.36625e-07,3.99293e-07,1.61893,5.89937e-06]
+ - [1.06566e-07,0.45331,2.95618e-07,3.69116e-07,1.64837,6.22369e-06]
+ - [1.10258e-07,0.469794,3.57855e-07,3.31415e-07,1.6778,6.53954e-06]
+ - [1.13572e-07,0.486572,4.23251e-07,2.85777e-07,1.70723,6.84607e-06]
+ - [1.16429e-07,0.503644,4.91711e-07,2.31799e-07,1.73666,7.1425e-06]
+ - [1.15585e-07,0.521011,5.64205e-08,1.8489e-07,1.76609,1.76461e-06]
+ - [1.17433e-07,0.538672,7.40666e-08,1.82933e-07,1.70269,1.52451e-06]
+ - [1.19263e-07,0.555698,8.93117e-08,1.80649e-07,1.63543,1.19439e-06]
+ - [1.21069e-07,0.572053,1.01256e-07,1.78237e-07,1.56433,4.9442e-07]
+ - [1.22852e-07,0.587696,1.062e-07,1.7589e-07,1.4894,1.44569e-07]
+ - [1.24611e-07,0.60259,1.07645e-07,1.73836e-07,1.41065,-4.7104e-08]
+ - [1.26349e-07,0.616697,1.07174e-07,1.72165e-07,1.32807,-5.8151e-07]
+ - [1.28071e-07,0.629977,1.01359e-07,1.70913e-07,1.24165,-8.7252e-07]
+ - [1.2978e-07,0.642394,9.26341e-08,1.70117e-07,1.1514,-7.91953e-07]
+ - [1.31481e-07,0.653908,8.47146e-08,1.69742e-07,1.05736,-4.64202e-07]
+ - [1.33178e-07,0.664481,8.00725e-08,1.69717e-07,0.959553,-4.29244e-08]
+ - [1.34875e-07,0.674077,7.96433e-08,1.69717e-07,0.861453,-4.23888e-08]
+ - [1.36573e-07,0.682691,7.92194e-08,1.69717e-07,0.763352,-4.18025e-08]
+ - [1.3827e-07,0.690325,7.88014e-08,1.69717e-07,0.665252,-4.10678e-08]
+ - [1.39967e-07,0.696977,7.83907e-08,1.69717e-07,0.567151,-4.01416e-08]
+ - [1.41664e-07,0.702649,7.79893e-08,1.69717e-07,0.469051,-3.9158e-08]
+ - [4.3479e-08,0.737274,2.03978e-11,-2.15448e-07,0.396741,2.90796e-08]
+ - [4.13245e-08,0.741242,3.11194e-10,-2.15449e-07,0.34835,-7.58287e-08]
+ - [3.917e-08,0.744725,-4.47093e-10,-2.15464e-07,0.29678,-1.79278e-07]
+ - [3.70154e-08,0.747693,-2.23987e-09,-2.15445e-07,0.241994,-2.78933e-07]
+num_actions: 79
+actions:
+ - [1.30007,1.30007]
+ - [1.30007,1.30007]
+ - [1.30007,1.30007]
+ - [1.30007,1.30007]
+ - [1.30007,1.30007]
+ - [1.30006,1.30006]
+ - [1.30006,1.30006]
+ - [1.30006,1.30006]
+ - [1.30006,1.30006]
+ - [1.30006,1.30006]
+ - [1.30006,1.30006]
+ - [1.30006,1.30006]
+ - [1.30006,1.30006]
+ - [1.30005,1.30005]
+ - [1.30005,1.30005]
+ - [1.30005,1.30005]
+ - [1.30005,1.30005]
+ - [1.30005,1.30005]
+ - [1.30005,1.30005]
+ - [1.30005,1.30005]
+ - [1.30007,1.30007]
+ - [1.30007,1.30007]
+ - [1.30007,1.30007]
+ - [1.30007,1.30007]
+ - [1.30007,1.30007]
+ - [1.30006,1.30006]
+ - [1.30006,1.30006]
+ - [1.30006,1.30006]
+ - [1.30006,1.30006]
+ - [1.30006,1.30006]
+ - [1.30006,1.30006]
+ - [1.30006,1.30006]
+ - [1.30006,1.30006]
+ - [1.30005,1.30005]
+ - [1.30005,1.30005]
+ - [1.30005,1.30005]
+ - [1.30005,1.30005]
+ - [1.30005,1.30005]
+ - [1.30005,1.30005]
+ - [1.30005,1.30005]
+ - [1.30004,1.30004]
+ - [1.30004,1.30004]
+ - [1.30004,1.30004]
+ - [1.30004,1.30004]
+ - [1.30004,1.30004]
+ - [1.30004,1.30004]
+ - [1.30004,1.30004]
+ - [1.30004,1.30004]
+ - [1.30003,1.30003]
+ - [1.30003,1.30003]
+ - [1.30003,1.30003]
+ - [1.30003,1.30003]
+ - [1.30003,1.30003]
+ - [1.30003,1.30003]
+ - [1.30003,1.30003]
+ - [1.30003,1.30003]
+ - [1.30002,1.30002]
+ - [1.30002,1.30002]
+ - [1.30002,1.30002]
+ - [1.30002,1.30002]
+ - [0.353647,0.353648]
+ - [0.314369,0.314369]
+ - [0.275259,0.275259]
+ - [0.236233,0.236233]
+ - [0.197219,0.197219]
+ - [0.158171,0.158171]
+ - [0.119091,0.119091]
+ - [0.0800619,0.0800618]
+ - [0.041289,0.0412888]
+ - [0.0030362,0.00303595]
+ - [-2.5002e-06,-2.50052e-06]
+ - [-3.78616e-06,-3.78651e-06]
+ - [-5.10674e-06,-5.10718e-06]
+ - [-6.45217e-06,-6.45272e-06]
+ - [-7.81635e-06,-7.81694e-06]
+ - [-9.19844e-06,-9.1991e-06]
+ - [0.506714,0.506714]
+ - [0.474315,0.474316]
+ - [0.441524,0.441524]
diff --git a/envs/quad2d_v0/empty_1.yaml b/envs/quad2d_v0/empty_1.yaml
new file mode 100644
index 0000000..8103205
--- /dev/null
+++ b/envs/quad2d_v0/empty_1.yaml
@@ -0,0 +1,9 @@
+name: quad2d_v0-empty_1
+environment:
+ min: [-1, -1]
+ max: [2, 2]
+ obstacles: []
+robots:
+ - type: quad2d_v0
+ start: [0, 0, 0, 0, 0, 0]
+ goal: [1, 1, 0, 0, 0, 0]
diff --git a/envs/quad2d_v0/empty_1/idbastar_v0_db_solution_v0.yaml b/envs/quad2d_v0/empty_1/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..72ff5b8
--- /dev/null
+++ b/envs/quad2d_v0/empty_1/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,362 @@
+time_stamp: 263.94
+cost: 1.7
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diff --git a/envs/quad2d_v0/empty_1/idbastar_v0_opt_solution_v0.yaml b/envs/quad2d_v0/empty_1/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..a04c927
--- /dev/null
+++ b/envs/quad2d_v0/empty_1/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,309 @@
+time_stamp: 435.537
+cost: 1.43
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,0,0,0]
+goal: [1,1,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00372966
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 144
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+ - [0.610339,0.439478]
+ - [0.607325,0.385344]
+ - [0.613231,0.329393]
+info: "ddp_iterations=13;ddp_time=11.699991"
diff --git a/envs/quad2d_v0/empty_1/idbastar_v0_solution_v0.yaml b/envs/quad2d_v0/empty_1/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..457271a
--- /dev/null
+++ b/envs/quad2d_v0/empty_1/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,279 @@
+time_stamp: 901.234
+cost: 1.28
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,0,0,0]
+goal: [1,1,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00558281
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 129
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+info: "ddp_iterations=17;ddp_time=13.371696"
diff --git a/envs/quad2d_v0/empty_1/rrt_to_v0_guess_v0.yaml b/envs/quad2d_v0/empty_1/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..da27bdb
--- /dev/null
+++ b/envs/quad2d_v0/empty_1/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,28 @@
+time_stamp: 1
+cost: 0.353553
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [0,0,0,0,0,0]
+goal: [1,1,0,0,0,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 2
+states:
+ - [0,0,0,0,0,0]
+ - [1,1,0,0,0,0]
+num_actions: 1
+actions:
+ - [1,1]
+num_times: 2
+times:
+ - 0
+ - 0.353553
diff --git a/envs/quad2d_v0/empty_1/rrt_to_v0_solution_v0.yaml b/envs/quad2d_v0/empty_1/rrt_to_v0_solution_v0.yaml
new file mode 100644
index 0000000..240cafa
--- /dev/null
+++ b/envs/quad2d_v0/empty_1/rrt_to_v0_solution_v0.yaml
@@ -0,0 +1,303 @@
+time_stamp: 1.41327e-316
+cost: 1.4
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,0,0,0]
+goal: [1,1,0,0,0,0]
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+max_collision: 0
+goal_distance: 0.00400161
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 141
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+ - [0.767926,0.797464]
+ - [0.74526,0.76537]
+ - [0.721525,0.730026]
+ - [0.697068,0.691371]
+ - [0.672355,0.64939]
+ - [0.648008,0.604113]
+ - [0.624832,0.555633]
+ - [0.603855,0.504112]
+ - [0.586377,0.44979]
+ - [0.574025,0.392999]
+ - [0.568826,0.334174]
+ - [0.573287,0.273869]
+info: "ddp_iterations=12;ddp_time=10.333161"
diff --git a/envs/quad2d_v0/empty_1/run_0_out.yaml.traj-sol.yaml b/envs/quad2d_v0/empty_1/run_0_out.yaml.traj-sol.yaml
new file mode 100644
index 0000000..0aa8ddb
--- /dev/null
+++ b/envs/quad2d_v0/empty_1/run_0_out.yaml.traj-sol.yaml
@@ -0,0 +1,279 @@
+time_stamp: 213.999
+cost: 1.28
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,0,0,0]
+goal: [1,1,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00566321
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0.000199705
+num_states: 129
+states:
+ - [0,0,0,0,0,0]
+ - [0,0,0,0,0.0093349,-0.683382]
+ - [0,9.3349e-05,-0.00683382,0,0.0239377,-1.18764]
+ - [0,0.000332726,-0.0187103,0.000800496,0.0429733,-1.54109]
+ - [8.00496e-06,0.000762459,-0.0341212,0.00306201,0.0657294,-1.7674]
+ - [3.86251e-05,0.00141975,-0.0517952,0.00729349,0.0915946,-1.88627]
+ - [0.00011156,0.0023357,-0.0706579,0.0138541,0.120046,-1.91387]
+ - [0.000250101,0.00353616,-0.0897967,0.0228578,0.14916,-1.9139]
+ - [0.000478679,0.00502776,-0.108936,0.0342943,0.178078,-1.91389]
+ - [0.000821622,0.00680854,-0.128075,0.0481596,0.206754,-1.91385]
+ - [0.00130322,0.00887608,-0.147213,0.0644171,0.234897,-1.9054]
+ - [0.00194739,0.011225,-0.166267,0.0829482,0.261765,-1.86464]
+ - [0.00277687,0.0138427,-0.184914,0.103736,0.28754,-1.79912]
+ - [0.00381423,0.0167181,-0.202905,0.12673,0.312366,-1.71494]
+ - [0.00508153,0.0198418,-0.220054,0.151849,0.336361,-1.61698]
+ - [0.00660002,0.0232054,-0.236224,0.178995,0.359625,-1.50916]
+ - [0.00838998,0.0268016,-0.251316,0.208054,0.382242,-1.39463]
+ - [0.0104705,0.030624,-0.265262,0.2389,0.404286,-1.27586]
+ - [0.0128595,0.0346669,-0.27802,0.271402,0.425824,-1.15482]
+ - [0.0155735,0.0389252,-0.289569,0.305421,0.446916,-1.03304]
+ - [0.0186277,0.0433943,-0.299899,0.340818,0.467621,-0.911728]
+ - [0.0220359,0.0480705,-0.309016,0.377452,0.487992,-0.791795]
+ - [0.0258104,0.0529505,-0.316934,0.415183,0.508083,-0.673935]
+ - [0.0299623,0.0580313,-0.323674,0.453873,0.527943,-0.558661]
+ - [0.034501,0.0633107,-0.32926,0.493385,0.547622,-0.446342]
+ - [0.0394348,0.0687869,-0.333724,0.533584,0.567167,-0.337234]
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+ - [0.0505141,0.0803248,-0.339411,0.615527,0.606042,-0.129226]
+ - [0.0566694,0.0863853,-0.340703,0.657019,0.62546,-0.0304557]
+ - [0.0632395,0.0926399,-0.341008,0.698698,0.644921,0.0648207]
+ - [0.0702265,0.0990891,-0.34036,0.740446,0.664464,0.156643]
+ - [0.077631,0.105734,-0.338793,0.782151,0.684129,0.245074]
+ - [0.0854525,0.112575,-0.336342,0.823704,0.70395,0.330198]
+ - [0.0936895,0.119615,-0.33304,0.864999,0.723962,0.412108]
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+ - [0.2631,0.250875,-0.200426,1.39016,1.05979,1.33464]
+ - [0.277001,0.261473,-0.18708,1.41435,1.08079,1.37636]
+ - [0.291145,0.272281,-0.173316,1.43657,1.10004,1.41432]
+ - [0.30551,0.283282,-0.159173,1.45681,1.11758,1.44875]
+ - [0.320078,0.294458,-0.144686,1.4751,1.13344,1.47984]
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+ - [0.395282,0.352396,-0.068201,1.53822,1.18917,1.59008]
+ - [0.410664,0.364288,-0.0523002,1.54538,1.1959,1.60384]
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+ - [0.441626,0.38826,-0.0201112,1.5545,1.2053,1.62379]
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+ - [0.519391,0.448682,0.0614765,1.54855,1.2074,1.63218]
+ - [0.534877,0.460756,0.0777983,1.54268,1.20456,1.62705]
+ - [0.550303,0.472801,0.0940688,1.53533,1.20075,1.61968]
+ - [0.565657,0.484809,0.110266,1.52652,1.19602,1.61006]
+ - [0.580922,0.496769,0.126366,1.51628,1.19044,1.5982]
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+ - [0.611131,0.520514,0.158189,1.49159,1.17691,1.56764]
+ - [0.626047,0.532283,0.173865,1.47719,1.16908,1.54887]
+ - [0.640819,0.543974,0.189354,1.46145,1.1606,1.52772]
+ - [0.655433,0.55558,0.204631,1.44439,1.15154,1.50415]
+ - [0.669877,0.567095,0.219673,1.42602,1.14194,1.47809]
+ - [0.684137,0.578515,0.234454,1.40637,1.13186,1.44948]
+ - [0.698201,0.589833,0.248948,1.38544,1.12136,1.41825]
+ - [0.712056,0.601047,0.263131,1.36327,1.11049,1.38432]
+ - [0.725688,0.612152,0.276974,1.33986,1.0993,1.34762]
+ - [0.739087,0.623145,0.29045,1.31522,1.08785,1.30804]
+ - [0.752239,0.634023,0.303531,1.28939,1.07617,1.26551]
+ - [0.765133,0.644785,0.316186,1.26237,1.06434,1.21991]
+ - [0.777757,0.655428,0.328385,1.23419,1.05238,1.17114]
+ - [0.790099,0.665952,0.340096,1.20486,1.04036,1.11911]
+ - [0.802147,0.676356,0.351287,1.17441,1.02832,1.0637]
+ - [0.813891,0.686639,0.361924,1.14286,1.0163,1.0048]
+ - [0.82532,0.696802,0.371972,1.11025,1.00434,0.942289]
+ - [0.836422,0.706845,0.381395,1.0766,0.992489,0.876062]
+ - [0.847188,0.71677,0.390156,1.04195,0.980782,0.806004]
+ - [0.857608,0.726578,0.398216,1.00635,0.969255,0.732001]
+ - [0.867671,0.736271,0.405536,0.969842,0.957942,0.653946]
+ - [0.87737,0.74585,0.412075,0.932477,0.946871,0.571736]
+ - [0.886695,0.755319,0.417793,0.894318,0.936071,0.485276]
+ - [0.895638,0.764679,0.422645,0.855434,0.925562,0.394484]
+ - [0.904192,0.773935,0.42659,0.815901,0.915362,0.299291]
+ - [0.912351,0.783089,0.429583,0.775805,0.905483,0.199651]
+ - [0.920109,0.792144,0.43158,0.73524,0.895929,0.09554]
+ - [0.927462,0.801103,0.432535,0.694314,0.886696,-0.0130321]
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+ - [0.940936,0.818748,0.431145,0.61185,0.869137,-0.243325]
+ - [0.947055,0.827439,0.428711,0.570581,0.860753,-0.364801]
+ - [0.95276,0.836046,0.425063,0.529483,0.85257,-0.490232]
+ - [0.958055,0.844572,0.420161,0.48872,0.844523,-0.619322]
+ - [0.962942,0.853017,0.413968,0.448464,0.836527,-0.751684]
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+ - [0.971516,0.869667,0.397583,0.370224,0.820235,-1.02413]
+ - [0.975218,0.87787,0.387341,0.332631,0.811652,-1.16285]
+ - [0.978545,0.885986,0.375713,0.29633,0.802538,-1.30206]
+ - [0.981508,0.894012,0.362692,0.261525,0.792674,-1.44069]
+ - [0.984123,0.901938,0.348285,0.228422,0.781806,-1.57744]
+ - [0.986407,0.909756,0.332511,0.197218,0.769647,-1.7108]
+ - [0.98838,0.917453,0.315403,0.168098,0.755872,-1.83903]
+ - [0.990061,0.925012,0.297013,0.141228,0.740119,-1.96008]
+ - [0.991473,0.932413,0.277412,0.116751,0.721992,-2.0716]
+ - [0.99264,0.939633,0.256696,0.0947762,0.701064,-2.17089]
+ - [0.993588,0.946643,0.234987,0.0753736,0.676882,-2.25483]
+ - [0.994342,0.953412,0.212439,0.0585686,0.648976,-2.31985]
+ - [0.994928,0.959902,0.18924,0.0443349,0.616866,-2.36187]
+ - [0.995371,0.966071,0.165622,0.032591,0.580082,-2.37619]
+ - [0.995697,0.971871,0.14186,0.0231982,0.538175,-2.35738]
+ - [0.995929,0.977253,0.118286,0.0159619,0.490742,-2.29922]
+ - [0.996088,0.982161,0.0952938,0.0106369,0.43745,-2.19446]
+ - [0.996195,0.986535,0.0733491,0.00693699,0.378059,-2.03467]
+ - [0.996264,0.990316,0.0530024,0.00454887,0.312459,-1.80994]
+ - [0.99631,0.99344,0.034903,0.0031515,0.240698,-1.50853]
+ - [0.996341,0.995847,0.0198177,0.00243832,0.163023,-1.11643]
+ - [0.996366,0.997477,0.00865339,0.00214125,0.079911,-0.616805]
+ - [0.996387,0.998277,0.00248534,0.0019843,-5.17961e-05,-0.000102599]
+num_actions: 128
+actions:
+ - [0.890269,1.30004]
+ - [0.997672,1.30004]
+ - [1.0881,1.30004]
+ - [1.16433,1.30004]
+ - [1.22876,1.30004]
+ - [1.28349,1.30004]
+ - [1.30001,1.30003]
+ - [1.30002,1.30002]
+ - [1.30003,1.30001]
+ - [1.30004,1.29497]
+ - [1.30004,1.2756]
+ - [1.30004,1.26075]
+ - [1.30004,1.24956]
+ - [1.30004,1.2413]
+ - [1.30004,1.23539]
+ - [1.30004,1.23136]
+ - [1.30004,1.22882]
+ - [1.30004,1.22746]
+ - [1.30004,1.22702]
+ - [1.30004,1.22729]
+ - [1.30004,1.22812]
+ - [1.30004,1.22936]
+ - [1.30003,1.23091]
+ - [1.30003,1.23268]
+ - [1.30003,1.23461]
+ - [1.30003,1.23663]
+ - [1.30003,1.2387]
+ - [1.30003,1.2408]
+ - [1.30003,1.2429]
+ - [1.30002,1.24497]
+ - [1.30002,1.247]
+ - [1.30002,1.24898]
+ - [1.30002,1.2509]
+ - [1.30002,1.25277]
+ - [1.30002,1.25456]
+ - [1.30001,1.25629]
+ - [1.30001,1.25794]
+ - [1.30001,1.25953]
+ - [1.30001,1.26103]
+ - [1.30001,1.26246]
+ - [1.30001,1.26381]
+ - [1.30001,1.26508]
+ - [1.30001,1.26626]
+ - [1.3,1.26734]
+ - [1.3,1.26831]
+ - [1.3,1.26916]
+ - [1.3002,1.27005]
+ - [1.27506,1.24762]
+ - [1.25146,1.22644]
+ - [1.22885,1.20608]
+ - [1.20698,1.18633]
+ - [1.18587,1.16722]
+ - [1.16555,1.14881]
+ - [1.146,1.13109]
+ - [1.12716,1.11401]
+ - [1.10908,1.09762]
+ - [1.09176,1.08193]
+ - [1.07522,1.06696]
+ - [1.05945,1.05273]
+ - [1.04448,1.03924]
+ - [1.0303,1.02651]
+ - [1.01692,1.01454]
+ - [1.00433,1.00334]
+ - [0.992531,0.992914]
+ - [0.981524,0.98326]
+ - [0.971302,0.974382]
+ - [0.961861,0.966281]
+ - [0.953194,0.958957]
+ - [0.945295,0.952408]
+ - [0.938158,0.946633]
+ - [0.931775,0.941628]
+ - [0.926136,0.93739]
+ - [0.921232,0.933912]
+ - [0.917052,0.931188]
+ - [0.913582,0.929209]
+ - [0.91081,0.927965]
+ - [0.908719,0.927444]
+ - [0.907291,0.927634]
+ - [0.906508,0.928518]
+ - [0.906347,0.930077]
+ - [0.906784,0.93229]
+ - [0.907791,0.935133]
+ - [0.909338,0.938577]
+ - [0.911391,0.942591]
+ - [0.913914,0.947141]
+ - [0.916866,0.952186]
+ - [0.920203,0.957685]
+ - [0.923877,0.963588]
+ - [0.927835,0.969844]
+ - [0.93202,0.976394]
+ - [0.936369,0.983173]
+ - [0.940814,0.990109]
+ - [0.945279,0.997123]
+ - [0.949683,1.00413]
+ - [0.953938,1.01102]
+ - [0.957945,1.01769]
+ - [0.9616,1.02403]
+ - [0.964786,1.02989]
+ - [0.967379,1.03513]
+ - [0.969243,1.03958]
+ - [0.970231,1.04307]
+ - [0.970185,1.0454]
+ - [0.968934,1.04634]
+ - [0.966299,1.04567]
+ - [0.962087,1.04312]
+ - [0.956095,1.03843]
+ - [0.948115,1.03129]
+ - [0.937932,1.02141]
+ - [0.92533,1.00845]
+ - [0.910097,0.992096]
+ - [0.89203,0.972]
+ - [0.870944,0.947832]
+ - [0.84668,0.919264]
+ - [0.819113,0.885985]
+ - [0.788174,0.847709]
+ - [0.753859,0.804192]
+ - [0.716254,0.755246]
+ - [0.675556,0.700752]
+ - [0.632102,0.640684]
+ - [0.5864,0.575124]
+ - [0.539167,0.504291]
+ - [0.491373,0.428558]
+ - [0.444294,0.348479]
+ - [0.399566,0.264809]
+ - [0.359242,0.178508]
+ - [0.325886,0.0907749]
+ - [0.302609,0.00301734]
+ - [0.369788,-4.08568e-06]
+info: "ddp_iterations=19;ddp_time=6.048777"
diff --git a/envs/quad2d_v0/empty_1/run_0_out.yaml.trajopt-0.yaml b/envs/quad2d_v0/empty_1/run_0_out.yaml.trajopt-0.yaml
new file mode 100644
index 0000000..7924174
--- /dev/null
+++ b/envs/quad2d_v0/empty_1/run_0_out.yaml.trajopt-0.yaml
@@ -0,0 +1,303 @@
+time_stamp: 75.1694
+cost: 1.4
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,0,0,0]
+goal: [1,1,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00400185
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 1.74653e-05
+num_states: 141
+states:
+ - [0,0,0,0,0,0]
+ - [0,0,0,0,0.0136649,-0.536073]
+ - [0,0.000136649,-0.00536073,0,0.0312094,-0.940227]
+ - [0,0.000448743,-0.014763,0.000637181,0.0519693,-1.235]
+ - [6.37181e-06,0.000968436,-0.027113,0.00243118,0.0753806,-1.43922]
+ - [3.06836e-05,0.00172224,-0.0415052,0.00578535,0.100961,-1.56859]
+ - [8.85372e-05,0.00273185,-0.0571911,0.0109946,0.128298,-1.63612]
+ - [0.000198483,0.00401483,-0.0735523,0.0182567,0.157039,-1.65251]
+ - [0.000381051,0.00558522,-0.0900774,0.0276284,0.186125,-1.65251]
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diff --git a/envs/quad2d_v0/empty_1/run_0_out.yaml.trajraw-0.yaml b/envs/quad2d_v0/empty_1/run_0_out.yaml.trajraw-0.yaml
new file mode 100644
index 0000000..be47eb6
--- /dev/null
+++ b/envs/quad2d_v0/empty_1/run_0_out.yaml.trajraw-0.yaml
@@ -0,0 +1,324 @@
+time_stamp: 31.5783
+cost: 1.51
+feasible: 0
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+u_bounds_feas: 1
+start: [0,0,0,0,0,0]
+goal: [1,1,0,0,0,0]
+max_jump: 0.235713
+max_collision: 0
+goal_distance: 0.457363
+start_distance: 0.0451736
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 152
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+ - [1.11242,0.976826,0.247629,-0.0620983,0.453818,-0.635765]
+num_actions: 151
+actions:
+ - [1.3,1.3]
+ - [1.3,1.3]
+ - [1.3,1.3]
+ - [1.3,1.3]
+ - [1.3,1.3]
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diff --git a/envs/quad2d_v0/fall_through.yaml b/envs/quad2d_v0/fall_through.yaml
new file mode 100644
index 0000000..4aaf089
--- /dev/null
+++ b/envs/quad2d_v0/fall_through.yaml
@@ -0,0 +1,35 @@
+name: fall_through-quad2d_v0
+environment:
+ min: [0.0, 0.0]
+ max: [6, 6]
+ obstacles:
+ # difficult:
+ - type: box
+ center: [1, 3]
+ size: [3.4, .3]
+ - type: box
+ center: [5, 3]
+ size: [3.4, .3]
+
+ # easy:
+ # - type: box
+ # center: [1, 3]
+ # size: [3.2,.3]
+ # - type: box
+ # center: [5, 3]
+ # size: [3.2,.3]
+
+ # - type: box
+ # center: [5, 3]
+ # size: [.4,.4]
+ # - type: box
+ # center: [3, 2]
+ # size: [.4,.4]
+ # - type: box
+ # center: [1, 3]
+ # size: [.4,.4]
+robots:
+ - type: quad2d_v0
+ start: [1., 4, 0., 0., 0., 0.] # x,y,theta,v,w
+ goal: [4., 1., 0., 0., 0., 0] # x,y,theta,v,w
+ # goal: [3,3.,1.57,0.,0., 0] # x,y,theta,v,w
diff --git a/envs/quad2d_v0/fall_through/idbastar_v0_db_solution_v0.yaml b/envs/quad2d_v0/fall_through/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..7e20c4a
--- /dev/null
+++ b/envs/quad2d_v0/fall_through/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,834 @@
+time_stamp: 38815.3
+cost: 4.06
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [1,4,0,0,0,0]
+goal: [4,1,0,0,0,0]
+max_jump: 0.2207
+max_collision: 0
+goal_distance: 0.400407
+start_distance: 0.0567549
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 407
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diff --git a/envs/quad2d_v0/fall_through/idbastar_v0_opt_solution_v0.yaml b/envs/quad2d_v0/fall_through/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..03769e1
--- /dev/null
+++ b/envs/quad2d_v0/fall_through/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,709 @@
+time_stamp: 39295.2
+cost: 3.43
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [1,4,0,0,0,0]
+goal: [4,1,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00245565
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0.000128009
+num_states: 344
+states:
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+info: "ddp_iterations=50;ddp_time=120.307367"
diff --git a/envs/quad2d_v0/fall_through/idbastar_v0_solution_v0.yaml b/envs/quad2d_v0/fall_through/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..03769e1
--- /dev/null
+++ b/envs/quad2d_v0/fall_through/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,709 @@
+time_stamp: 39295.2
+cost: 3.43
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [1,4,0,0,0,0]
+goal: [4,1,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00245565
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0.000128009
+num_states: 344
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+ - [1.29378,1.29993]
+ - [1.29371,1.29993]
+ - [1.29369,1.29993]
+ - [1.2937,1.29993]
+ - [1.29363,1.29993]
+ - [1.29364,1.29994]
+ - [1.2936,1.29994]
+ - [1.29353,1.29994]
+ - [1.29343,1.29994]
+ - [1.29343,1.29994]
+ - [1.29352,1.29994]
+ - [1.2936,1.29994]
+ - [1.29386,1.29994]
+ - [1.29421,1.29994]
+ - [1.29473,1.29994]
+ - [1.29581,1.29993]
+ - [1.29996,1.29998]
+ - [1.30002,1.29994]
+ - [1.29997,1.29991]
+ - [1.29994,1.29991]
+ - [1.29993,1.29992]
+ - [1.29992,1.29993]
+ - [1.29992,1.29993]
+ - [1.29991,1.29993]
+ - [1.29991,1.29993]
+ - [1.29991,1.29993]
+ - [1.29992,1.29993]
+ - [1.29992,1.29993]
+ - [1.29992,1.29993]
+ - [1.29992,1.29993]
+ - [1.29992,1.29993]
+ - [1.29993,1.29993]
+ - [1.29993,1.29992]
+ - [1.29993,1.29992]
+ - [1.29994,1.29992]
+ - [1.29994,1.29991]
+ - [1.29995,1.29991]
+ - [1.29995,1.29991]
+ - [1.29996,1.2999]
+ - [1.29996,1.28738]
+ - [1.29996,1.26992]
+ - [1.29996,1.25023]
+ - [1.29996,1.2275]
+ - [1.29996,1.20084]
+info: "ddp_iterations=50;ddp_time=120.307367"
diff --git a/envs/quad2d_v0/fall_through/rrt_to_v0_guess_v0.yaml b/envs/quad2d_v0/fall_through/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..aafc69e
--- /dev/null
+++ b/envs/quad2d_v0/fall_through/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,40 @@
+time_stamp: 4
+cost: 1.53751
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [1,4,0,0,0,0]
+goal: [4,1,0,0,0,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 6
+states:
+ - [1,4,0,0,0,0]
+ - [2.59377,4.11341,1.61522,0,0,0]
+ - [3.04235,3.43041,1.51521,0,0,0]
+ - [2.47398,1.33287,1.41222,0,0,0]
+ - [3.75302,1.05387,0.228562,0,0,0]
+ - [4,1,0,0,0,0]
+num_actions: 5
+actions:
+ - [1,1]
+ - [1,1]
+ - [1,1]
+ - [1,1]
+ - [1,1]
+num_times: 6
+times:
+ - 0
+ - 0.39945
+ - 0.603733
+ - 1.14703
+ - 1.47431
+ - 1.53751
diff --git a/envs/quad2d_v0/fall_through/rrt_to_v0_solution_v0.yaml b/envs/quad2d_v0/fall_through/rrt_to_v0_solution_v0.yaml
new file mode 100644
index 0000000..c490a57
--- /dev/null
+++ b/envs/quad2d_v0/fall_through/rrt_to_v0_solution_v0.yaml
@@ -0,0 +1,1335 @@
+time_stamp: 1.43378e-316
+cost: 6.56
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [1,4,0,0,0,0]
+goal: [4,1,0,0,0,0]
+max_jump: 0
+max_collision: 0.00478698
+goal_distance: 0.000690141
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0.00992632
+num_states: 657
+states:
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+ - [1,4,0,0,-0.0138474,-0.519062]
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+ - [1.07084,1.07282]
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+ - [1.08394,1.08649]
+ - [1.08681,1.08948]
+ - [1.08978,1.09257]
+ - [1.09285,1.09574]
+ - [1.09601,1.09901]
+ - [1.09928,1.10237]
+ - [1.10266,1.10583]
+ - [1.10616,1.10939]
+ - [1.10978,1.11304]
+ - [1.11353,1.11679]
+ - [1.11742,1.12062]
+ - [1.12146,1.12455]
+ - [1.12567,1.12855]
+ - [1.13007,1.13262]
+ - [1.13466,1.13674]
+ - [1.13949,1.1409]
+ - [1.14459,1.14507]
+ - [1.14999,1.14921]
+ - [1.15575,1.1533]
+ - [1.16194,1.15726]
+ - [1.16863,1.16104]
+ - [1.17593,1.16453]
+ - [1.18396,1.16766]
+ - [1.19285,1.1703]
+info: "ddp_iterations=47;ddp_time=585.577931"
diff --git a/envs/quad2d_v0/motions/quad2d_v0_all_im.bin.sp.bin.ca.bin.small.msgpack b/envs/quad2d_v0/motions/quad2d_v0_all_im.bin.sp.bin.ca.bin.small.msgpack
new file mode 100644
index 0000000..09de1ab
Binary files /dev/null and b/envs/quad2d_v0/motions/quad2d_v0_all_im.bin.sp.bin.ca.bin.small.msgpack differ
diff --git a/envs/quad2d_v0/quad2d_recovery_obs.yaml b/envs/quad2d_v0/quad2d_recovery_obs.yaml
new file mode 100644
index 0000000..3e9fec4
--- /dev/null
+++ b/envs/quad2d_v0/quad2d_recovery_obs.yaml
@@ -0,0 +1,18 @@
+name: quad2d_v0-recovery_obstacles
+environment:
+ #original
+ min: [-1, -2.0]
+ max: [2, 3]
+ #visualization
+ min: [-1, -2.5]
+ max: [2.5, 3]
+ obstacles:
+ - type: box
+ center: [0, 1.5]
+ size: [2, .3]
+
+robots:
+ - type: quad2d_v0
+ # start: [0., 1., 3.14, 0., 0., 0.] # x,y,theta,v,w
+ start: [0., 1., -3.14, 0., 0., 0.] # x,y,theta,v,w
+ goal: [0., 2, 0., 0., 0., 0] # x,y,theta,v,w
diff --git a/envs/quad2d_v0/quad2d_recovery_obs/idbastar_v0_db_solution_v0.yaml b/envs/quad2d_v0/quad2d_recovery_obs/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..322fda8
--- /dev/null
+++ b/envs/quad2d_v0/quad2d_recovery_obs/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,918 @@
+time_stamp: 10672.1
+cost: 4.48
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,1,-3.14,0,0,0]
+goal: [0,2,0,0,0,0]
+max_jump: 0.388197
+max_collision: 0
+goal_distance: 0.427644
+start_distance: 0.21628
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 449
+states:
+ - [9.85516e-08,1,-2.86968,6.42989e-08,-8.0377e-08,0.405601]
+ - [9.91946e-08,1,-2.86562,0.0171257,-0.159522,2.57361]
+ - [0.000171356,0.998405,-2.83989,0.0345003,-0.318975,4.74162]
+ - [0.00051636,0.995215,-2.79247,0.053448,-0.477959,6.90963]
+ - [0.00105084,0.990435,-2.72338,0.0639862,-0.605008,7.95706]
+ - [0.0016907,0.984385,-2.6438,0.0639862,-0.703108,7.95706]
+ - [0.00233056,0.977354,-2.56423,0.0639862,-0.801208,7.95706]
+ - [0.00297043,0.969342,-2.48466,0.0639862,-0.899308,7.95706]
+ - [0.00361029,0.960349,-2.40509,0.0639862,-0.997408,7.95706]
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+ - [0.00489001,0.93942,-2.24595,0.0639862,-1.19361,7.95706]
+ - [0.00552987,0.927484,-2.16638,0.0639862,-1.29171,7.95706]
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+ - [0.00744946,0.88579,-1.92767,0.0639862,-1.58601,7.95706]
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diff --git a/envs/quad2d_v0/quad2d_recovery_obs/idbastar_v0_opt_solution_v0.yaml b/envs/quad2d_v0/quad2d_recovery_obs/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..cc535f1
--- /dev/null
+++ b/envs/quad2d_v0/quad2d_recovery_obs/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,939 @@
+time_stamp: 11068.7
+cost: 4.58
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,1,-3.14,0,0,0]
+goal: [0,2,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.0038247
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0.000366338
+num_states: 459
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+ - [0.799954,1.13424]
+info: "ddp_iterations=43;ddp_time=81.987847"
diff --git a/envs/quad2d_v0/quad2d_recovery_obs/idbastar_v0_solution_v0.yaml b/envs/quad2d_v0/quad2d_recovery_obs/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..3424075
--- /dev/null
+++ b/envs/quad2d_v0/quad2d_recovery_obs/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,911 @@
+time_stamp: 31801
+cost: 4.44
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,1,-3.14,0,0,0]
+goal: [0,2,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00391685
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0.000456131
+num_states: 445
+states:
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+ - [1.29991,1.29749]
+ - [1.29991,1.29746]
+ - [1.29991,1.29744]
+ - [1.29991,1.29741]
+ - [1.29991,1.29738]
+ - [1.29991,1.29735]
+ - [1.29991,1.29732]
+ - [1.29991,1.29728]
+ - [1.29991,1.29724]
+ - [1.29991,1.29719]
+ - [1.29991,1.29713]
+ - [1.29991,1.29707]
+ - [1.29991,1.297]
+ - [1.29991,1.29691]
+ - [1.2999,1.29682]
+ - [1.2999,1.29671]
+ - [1.2999,1.29658]
+ - [1.2999,1.29643]
+ - [1.2999,1.29625]
+ - [1.2999,1.29605]
+ - [1.2999,1.29581]
+ - [1.2999,1.29552]
+ - [1.2999,1.29518]
+ - [1.29657,1.29173]
+ - [1.28655,1.28209]
+ - [1.27679,1.27263]
+ - [1.26727,1.26334]
+ - [1.25797,1.25424]
+ - [1.24888,1.2453]
+ - [1.24,1.23654]
+ - [1.23131,1.22794]
+ - [1.22281,1.21951]
+ - [1.21448,1.21124]
+ - [1.20633,1.20313]
+ - [1.19833,1.19516]
+ - [1.19049,1.18734]
+ - [1.1828,1.17967]
+ - [1.17525,1.17213]
+ - [1.16784,1.16473]
+ - [1.16056,1.15745]
+ - [1.1534,1.1503]
+ - [1.14636,1.14327]
+ - [1.13944,1.13635]
+ - [1.13262,1.12955]
+ - [1.12591,1.12284]
+ - [1.1193,1.11625]
+ - [1.11279,1.10975]
+ - [1.10636,1.10334]
+ - [1.10002,1.09702]
+ - [1.09376,1.09079]
+ - [1.08758,1.08464]
+ - [1.08148,1.07857]
+ - [1.07544,1.07258]
+ - [1.06947,1.06665]
+ - [1.06357,1.0608]
+ - [1.05772,1.05501]
+ - [1.05193,1.04928]
+ - [1.04618,1.0436]
+ - [1.04049,1.03799]
+ - [1.03485,1.03242]
+ - [1.02924,1.02691]
+ - [1.02368,1.02144]
+ - [1.01815,1.01602]
+ - [1.01266,1.01063]
+ - [1.0072,1.00529]
+ - [1.00176,0.99998]
+ - [0.996352,0.994706]
+ - [0.990966,0.989463]
+ - [0.985601,0.98425]
+ - [0.980253,0.979063]
+ - [0.974922,0.973901]
+ - [0.969603,0.968762]
+ - [0.964296,0.963644]
+ - [0.958997,0.958544]
+ - [0.953705,0.953461]
+ - [0.948417,0.948393]
+ - [0.94313,0.943337]
+ - [0.937844,0.938291]
+ - [0.932555,0.933254]
+ - [0.927262,0.928224]
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+ - [0.916652,0.918173]
+ - [0.911331,0.913149]
+ - [0.905996,0.908123]
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+ - [0.889879,0.893005]
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+ - [0.791135,0.801816]
+ - [0.784602,0.795797]
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+ - [0.764193,0.776913]
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+ - [0.710331,0.726046]
+ - [0.701731,0.717717]
+ - [0.692863,0.709052]
+ - [0.683713,0.700021]
+ - [0.67427,0.690595]
+ - [0.664522,0.680742]
+ - [0.654459,0.670427]
+ - [0.644075,0.659615]
+ - [0.633365,0.648266]
+ - [0.622331,0.636339]
+ - [0.61098,0.62379]
+ - [0.599325,0.610572]
+ - [0.587388,0.596634]
+ - [0.575206,0.581923]
+ - [0.562825,0.566381]
+ - [0.554566,0.550241]
+ - [0.560373,0.560227]
+ - [0.566489,0.569686]
+ - [0.572806,0.578655]
+ - [0.579241,0.587173]
+ - [0.58573,0.595276]
+ - [0.592225,0.602999]
+ - [0.59869,0.610374]
+ - [0.6051,0.617431]
+ - [0.611436,0.6242]
+ - [0.617687,0.630706]
+ - [0.623846,0.636977]
+ - [0.629911,0.643033]
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+ - [0.669928,0.68109]
+ - [0.675362,0.686099]
+ - [0.680745,0.691042]
+ - [0.686084,0.695928]
+ - [0.691386,0.700768]
+ - [0.696657,0.705571]
+ - [0.701906,0.710345]
+ - [0.707137,0.715099]
+ - [0.712357,0.71984]
+ - [0.717572,0.724574]
+ - [0.722788,0.729309]
+ - [0.728011,0.73405]
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+ - [0.743772,0.74837]
+ - [0.749074,0.753192]
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+ - [0.75978,0.762938]
+ - [0.765195,0.767872]
+ - [0.770656,0.772851]
+ - [0.77617,0.777881]
+ - [0.78174,0.782964]
+ - [0.787372,0.788107]
+ - [0.79307,0.793311]
+ - [0.798838,0.798582]
+ - [0.804683,0.803923]
+ - [0.810608,0.809338]
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+ - [0.822719,0.820406]
+ - [0.828915,0.826067]
+ - [0.835211,0.831817]
+ - [0.841612,0.83766]
+ - [0.848123,0.8436]
+ - [0.854748,0.84964]
+ - [0.861494,0.855785]
+ - [0.868364,0.862036]
+ - [0.875364,0.868398]
+ - [0.882498,0.874874]
+ - [0.88977,0.881467]
+ - [0.897186,0.888178]
+ - [0.904749,0.895012]
+ - [0.912464,0.901969]
+ - [0.920334,0.909051]
+ - [0.928362,0.91626]
+ - [0.936552,0.923597]
+ - [0.944905,0.931061]
+ - [0.953424,0.938652]
+ - [0.96211,0.94637]
+ - [0.970964,0.954211]
+ - [0.979984,0.962173]
+ - [0.989169,0.970252]
+ - [0.998517,0.978444]
+ - [1.00802,0.98674]
+ - [1.01768,0.995134]
+ - [1.02749,1.00362]
+ - [1.03743,1.01217]
+ - [1.0475,1.0208]
+ - [1.05768,1.02947]
+ - [1.06795,1.03817]
+ - [1.0783,1.04688]
+ - [1.08869,1.05558]
+ - [1.09912,1.06424]
+ - [1.10953,1.07283]
+ - [1.1199,1.08132]
+ - [1.13018,1.08967]
+ - [1.14033,1.09784]
+ - [1.15028,1.10579]
+ - [1.15998,1.11346]
+ - [1.16936,1.12081]
+ - [1.17833,1.12777]
+ - [1.18681,1.13429]
+ - [1.19469,1.14029]
+ - [1.20186,1.1457]
+ - [1.2082,1.15045]
+ - [1.21358,1.15446]
+ - [1.21783,1.15766]
+ - [1.22079,1.15996]
+ - [1.22229,1.1613]
+ - [1.22213,1.16162]
+ - [1.22011,1.16085]
+ - [1.21601,1.15897]
+ - [1.20959,1.15597]
+ - [1.20062,1.15187]
+ - [1.18887,1.14676]
+ - [1.17409,1.14078]
+ - [1.15605,1.13414]
+ - [1.13455,1.1272]
+ - [1.10938,1.1204]
+ - [1.0804,1.11441]
+ - [1.04752,1.11008]
+ - [1.01069,1.10854]
+ - [0.969959,1.11125]
+ - [0.925482,1.12008]
+ - [0.877524,1.13739]
+ - [0.826484,1.16615]
+info: "ddp_iterations=66;ddp_time=142.975566"
diff --git a/envs/quad2d_v0/quad2d_recovery_obs/rrt_to_v0_guess_v0.yaml b/envs/quad2d_v0/quad2d_recovery_obs/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..b37bec3
--- /dev/null
+++ b/envs/quad2d_v0/quad2d_recovery_obs/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,55 @@
+time_stamp: 1
+cost: 2.71617
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [0,1,-3.14,0,0,0]
+goal: [0,2,0,0,0,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 11
+states:
+ - [0,1,-3.14,0,0,0]
+ - [0.804814,-0.417985,-1.76927,0,0,0]
+ - [0.0393851,-0.903658,-1.63384,0,0,0]
+ - [0.229909,-0.67712,0.0952206,0,0,0]
+ - [1.26834,-0.546871,0.850588,0,0,0]
+ - [1.67072,1.19744,0.944229,0,0,0]
+ - [1.87315,1.85926,-0.396725,0,0,0]
+ - [1.67386,2.43878,1.01372,0,0,0]
+ - [0.956572,2.05,1.7181,0,0,0]
+ - [-0.351678,2.46453,2.08189,0,0,0]
+ - [0,2,0,0,0,0]
+num_actions: 10
+actions:
+ - [1,1]
+ - [1,1]
+ - [1,1]
+ - [1,1]
+ - [1,1]
+ - [1,1]
+ - [1,1]
+ - [1,1]
+ - [1,1]
+ - [1,1]
+num_times: 11
+times:
+ - 0
+ - 0.407616
+ - 0.634243
+ - 0.850375
+ - 1.11202
+ - 1.55955
+ - 1.73257
+ - 1.90887
+ - 2.11284
+ - 2.45593
+ - 2.71617
diff --git a/envs/quad2d_v0/quad2d_recovery_wo_obs.yaml b/envs/quad2d_v0/quad2d_recovery_wo_obs.yaml
new file mode 100644
index 0000000..e17c785
--- /dev/null
+++ b/envs/quad2d_v0/quad2d_recovery_wo_obs.yaml
@@ -0,0 +1,9 @@
+name: quad2d-recovery
+environment:
+ min: [-1, -2]
+ max: [2, 3]
+ obstacles: []
+robots:
+ - type: quad2d_v0
+ start: [0., 1., 3.14, 0., 0., 0.] # x,y,theta,v,w
+ goal: [1., 1., 0., 0., 0., 0] # x,y,theta,v,w
diff --git a/envs/quad2d_v0/quad2d_recovery_wo_obs/idbastar_v0_db_solution_v0.yaml b/envs/quad2d_v0/quad2d_recovery_wo_obs/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..165f68c
--- /dev/null
+++ b/envs/quad2d_v0/quad2d_recovery_wo_obs/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,680 @@
+time_stamp: 438.334
+cost: 3.29
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,1,3.14,0,0,0]
+goal: [1,1,0,0,0,0]
+max_jump: 0.23262
+max_collision: 0
+goal_distance: 0.421197
+start_distance: 0.217873
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 330
+states:
+ - [-1.87377e-09,1,-2.86968,5.38372e-08,-2.34526e-08,0.405601]
+ - [-1.3354e-09,1,-2.86562,0.0171257,-0.159522,2.57361]
+ - [0.000171256,0.998405,-2.83989,0.0345003,-0.318974,4.74162]
+ - [0.000516259,0.995215,-2.79247,0.053448,-0.477959,6.90963]
+ - [0.00105074,0.990436,-2.72338,0.0639862,-0.605008,7.95707]
+ - [0.0016906,0.984385,-2.6438,0.0639862,-0.703108,7.95707]
+ - [0.00233046,0.977354,-2.56423,0.0639862,-0.801208,7.95707]
+ - [0.00297032,0.969342,-2.48466,0.0639862,-0.899308,7.95707]
+ - [0.00361019,0.960349,-2.40509,0.0639862,-0.997408,7.95707]
+ - [0.00425005,0.950375,-2.32552,0.0639862,-1.09551,7.95707]
+ - [0.00488991,0.93942,-2.24595,0.0639862,-1.19361,7.95707]
+ - [0.00552977,0.927484,-2.16638,0.0639862,-1.29171,7.95707]
+ - [0.00616963,0.914567,-2.08681,0.0639862,-1.38981,7.95707]
+ - [0.00680949,0.900669,-2.00724,0.0639862,-1.48791,7.95707]
+ - [0.00744936,0.88579,-1.92767,0.0639862,-1.58601,7.95707]
+ - [0.00808922,0.86993,-1.8481,0.0639862,-1.68411,7.95707]
+ - [0.00872908,0.853089,-1.76853,0.0639862,-1.78221,7.95707]
+ - [0.00936894,0.835267,-1.68896,0.0639862,-1.88031,7.95707]
+ - [0.0100088,0.816463,-1.60939,0.0639862,-1.97841,7.95707]
+ - [0.0106487,0.796679,-1.52982,0.0639862,-2.07651,7.95707]
+ - [0.0112885,0.775914,-1.45024,0.0639862,-2.17461,7.95707]
+ - [0.0119284,0.754168,-1.37067,0.0639862,-2.27271,7.95707]
+ - [0.0125682,0.731441,-1.2911,0.0639862,-2.37081,7.95707]
+ - [0.0132081,0.707733,-1.21153,0.0639862,-2.46891,7.95707]
+ - [0.013848,0.683044,-1.13196,0.0639862,-2.56701,7.95707]
+ - [0.0144878,0.657374,-1.05239,0.0639862,-2.66511,7.95707]
+ - [0.0151277,0.630723,-0.972821,0.0639899,-2.76321,7.95721]
+ - [0.0157676,0.603091,-0.893249,0.143485,-2.80716,7.95541]
+ - [0.0172024,0.575019,-0.813695,0.242816,-2.82533,7.95413]
+ - [0.0196306,0.546766,-0.734153,0.335492,-2.83586,7.95336]
+ - [0.0229855,0.518407,-0.65462,0.420918,-2.8393,7.95263]
+ - [0.0271947,0.490014,-0.575094,0.498553,-2.83625,7.95195]
+ - [0.0321802,0.461652,-0.495574,0.567908,-2.82735,7.95131]
+ - [0.0378593,0.433378,-0.416061,0.628544,-2.81328,7.95065]
+ - [0.0441448,0.405246,-0.336555,0.678883,-2.79745,7.84937]
+ - [0.0509336,0.377271,-0.258061,0.716673,-2.78754,7.40412]
+ - [0.0581003,0.349396,-0.18402,0.745069,-2.77805,6.85113]
+ - [0.065551,0.321615,-0.115508,0.765323,-2.76734,6.27847]
+ - [0.0732042,0.293942,-0.0527237,0.778126,-2.75509,5.71944]
+ - [0.0809855,0.266391,0.00447077,0.784021,-2.74148,5.18676]
+ - [0.0888257,0.238976,0.0563384,0.783517,-2.7268,4.68523]
+ - [0.0966609,0.211708,0.103191,0.777112,-2.71134,4.21652]
+ - [0.104432,0.184595,0.145356,0.765295,-2.69533,3.78095]
+ - [0.112085,0.157642,0.183165,0.748539,-2.67897,3.37817]
+ - [0.11957,0.130852,0.216947,0.727296,-2.66239,3.00743]
+ - [0.126843,0.104228,0.247021,0.701997,-2.64571,2.66766]
+ - [0.133863,0.0777709,0.273698,0.673043,-2.62899,2.35766]
+ - [0.140594,0.0514809,0.297275,0.640812,-2.61229,2.07597]
+ - [0.147002,0.0253581,0.318034,0.605653,-2.59562,1.82101]
+ - [0.153058,-0.000598105,0.336244,0.567888,-2.57901,1.5911]
+ - [0.158737,-0.0263882,0.352155,0.527816,-2.56245,1.3845]
+ - [0.164015,-0.0520127,0.366,0.485705,-2.54596,1.19946]
+ - [0.168872,-0.0774723,0.377995,0.441804,-2.52952,1.03419]
+ - [0.17329,-0.102767,0.388337,0.396335,-2.51311,0.886995]
+ - [0.177254,-0.127899,0.397207,0.349503,-2.49674,0.756214]
+ - [0.180749,-0.152866,0.404769,0.301488,-2.48038,0.640242]
+ - [0.183764,-0.17767,0.411171,0.252455,-2.46403,0.537612]
+ - [0.186288,-0.20231,0.416547,0.202549,-2.44768,0.446906]
+ - [0.188314,-0.226787,0.421016,0.151903,-2.4313,0.366839]
+ - [0.189833,-0.2511,0.424685,0.100632,-2.41491,0.296212]
+ - [0.190839,-0.275249,0.427647,0.0488284,-2.39845,0.234874]
+ - [0.191327,-0.299233,0.429996,-0.00340417,-2.38195,0.180924]
+ - [0.191293,-0.323053,0.431805,-0.0559861,-2.3654,0.133528]
+ - [0.190733,-0.346707,0.43314,-0.108847,-2.34878,0.0919523]
+ - [0.189645,-0.370195,0.00113171,-0.161924,-2.3321,0.00478949]
+ - [0.188026,-0.393516,0.0011796,-0.162069,-2.30267,0.00480617]
+ - [0.186405,-0.416542,0.00122767,-0.162219,-2.27324,0.00482284]
+ - [0.184783,-0.439275,0.00127589,-0.162376,-2.24381,0.00483952]
+ - [0.183159,-0.461713,0.00132429,-0.162538,-2.21438,0.00483952]
+ - [0.181534,-0.483857,0.00137268,-0.162707,-2.18495,0.00483952]
+ - [0.179907,-0.505706,0.00142108,-0.162882,-2.15552,0.00483952]
+ - [0.178278,-0.527262,0.00146947,-0.163064,-2.12609,0.00483952]
+ - [0.176647,-0.548522,0.00151787,-0.163251,-2.09666,0.00483952]
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diff --git a/envs/quad2d_v0/quad2d_recovery_wo_obs/idbastar_v0_opt_solution_v0.yaml b/envs/quad2d_v0/quad2d_recovery_wo_obs/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..57b51da
--- /dev/null
+++ b/envs/quad2d_v0/quad2d_recovery_wo_obs/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,655 @@
+time_stamp: 623.882
+cost: 3.16
+feasible: 1
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+start: [0,1,3.14,0,0,0]
+goal: [1,1,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00238257
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0.000480909
+num_states: 317
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diff --git a/envs/quad2d_v0/quad2d_recovery_wo_obs/idbastar_v0_solution_v0.yaml b/envs/quad2d_v0/quad2d_recovery_wo_obs/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..1bf8ef2
--- /dev/null
+++ b/envs/quad2d_v0/quad2d_recovery_wo_obs/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,645 @@
+time_stamp: 11888.3
+cost: 3.11
+feasible: 1
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+col_feas: 1
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+start: [0,1,3.14,0,0,0]
+goal: [1,1,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00266324
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0.00054964
+num_states: 312
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+ - [0.0591703,0.0682189]
+ - [0.0292613,0.040645]
+ - [9.99182e-05,0.0141174]
+ - [9.83644e-05,0.0147577]
+ - [9.67622e-05,0.01588]
+info: "ddp_iterations=34;ddp_time=48.705254"
diff --git a/envs/quad2d_v0/quad2d_recovery_wo_obs/rrt_to_v0_guess_v0.yaml b/envs/quad2d_v0/quad2d_recovery_wo_obs/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..d56f18b
--- /dev/null
+++ b/envs/quad2d_v0/quad2d_recovery_wo_obs/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,28 @@
+time_stamp: 0
+cost: 0.3925
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [0,1,3.14,0,0,0]
+goal: [1,1,0,0,0,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 2
+states:
+ - [0,1,3.14,0,0,0]
+ - [1,1,0,0,0,0]
+num_actions: 1
+actions:
+ - [1,1]
+num_times: 2
+times:
+ - 0
+ - 0.3925
diff --git a/envs/quad2d_v0/quad_bugtrap.yaml b/envs/quad2d_v0/quad_bugtrap.yaml
new file mode 100644
index 0000000..a06a765
--- /dev/null
+++ b/envs/quad2d_v0/quad_bugtrap.yaml
@@ -0,0 +1,24 @@
+name: quad2d_v0-bugtrap
+environment:
+ min: [0.0, 0.0]
+ max: [6, 6]
+ obstacles:
+ - type: box
+ center: [4.5, 3]
+ size: [0.2, 3.2]
+ - type: box
+ center: [3, 1.5]
+ size: [3.2, 0.2]
+ - type: box
+ center: [3, 4.5]
+ size: [3.2, 0.2]
+ - type: box
+ center: [1.5, 4.05]
+ size: [0.2, 1.1]
+ - type: box
+ center: [1.5, 1.95]
+ size: [0.2, 1.1]
+robots:
+ - type: quad2d_v0
+ start: [3.8, 3, 0, 0, 0, 0]
+ goal: [5.2, 3, 0, 0, 0, 0]
diff --git a/envs/quad2d_v0/quad_bugtrap/idbastar_v0_db_solution_v0.yaml b/envs/quad2d_v0/quad_bugtrap/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..5701f85
--- /dev/null
+++ b/envs/quad2d_v0/quad_bugtrap/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,952 @@
+time_stamp: 36283.1
+cost: 4.65
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [3.8,3,0,0,0,0]
+goal: [5.2,3,0,0,0,0]
+max_jump: 0.245794
+max_collision: 0
+goal_distance: 0.484446
+start_distance: 0.142231
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 466
+states:
+ - [3.8,3,0.075609,-8.4953e-08,-7.56114e-08,0.522131]
+ - [3.8,3,0.0808303,-0.00671182,-0.00950035,0.542937]
+ - [3.79993,2.9999,0.0862597,-0.013848,-0.0195066,0.564149]
+ - [3.79979,2.99971,0.0919012,-0.0214206,-0.0300363,0.585795]
+ - [3.79958,2.99941,0.0977591,-0.0294412,-0.0411079,0.608061]
+ - [3.79929,2.999,0.10384,-0.0379212,-0.0527404,0.630968]
+ - [3.79891,2.99847,0.110149,-0.0468718,-0.0649539,0.654505]
+ - [3.79844,2.99782,0.116694,-0.056304,-0.0777701,0.678621]
+ - [3.79787,2.99704,0.123481,-0.0662282,-0.0912117,0.703152]
+ - [3.79721,2.99613,0.130512,-0.0766548,-0.105303,0.728099]
+ - [3.79645,2.99508,0.137793,-0.0875932,-0.120067,0.753439]
+ - [3.79557,2.99388,0.145328,-0.0990524,-0.135532,0.779155]
+ - [3.79458,2.99252,0.153119,-0.11104,-0.151724,0.805225]
+ - [3.79347,2.99101,0.161171,-0.123565,-0.168669,0.831619]
+ - [3.79223,2.98932,0.169488,-0.136632,-0.186398,0.858314]
+ - [3.79087,2.98745,0.178071,-0.150247,-0.204938,0.885373]
+ - [3.78936,2.98541,0.186924,-0.164414,-0.22432,0.912845]
+ - [3.78772,2.98316,0.196053,-0.179137,-0.244574,0.940752]
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+ - [1.3,1.3]
+ - [1.3,1.3]
+ - [1.3,1.3]
+ - [1.3,1.3]
+ - [1.3,1.3]
+ - [1.3,1.3]
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+ - [1.3,1.3]
+ - [1.3,1.3]
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diff --git a/envs/quad2d_v0/quad_bugtrap/idbastar_v0_opt_solution_v0.yaml b/envs/quad2d_v0/quad_bugtrap/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..42a0696
--- /dev/null
+++ b/envs/quad2d_v0/quad_bugtrap/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,1053 @@
+time_stamp: 36845.8
+cost: 5.15
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [3.8,3,0,0,0,0]
+goal: [5.2,3,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00407391
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 9.58036e-06
+num_states: 516
+states:
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+ - [1.29991,1.29999]
+ - [1.29991,1.3]
+ - [1.29504,1.30001]
+ - [1.2701,1.30001]
+info: "ddp_iterations=42;ddp_time=159.720003"
diff --git a/envs/quad2d_v0/quad_bugtrap/idbastar_v0_solution_v0.yaml b/envs/quad2d_v0/quad_bugtrap/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..42a0696
--- /dev/null
+++ b/envs/quad2d_v0/quad_bugtrap/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,1053 @@
+time_stamp: 36845.8
+cost: 5.15
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [3.8,3,0,0,0,0]
+goal: [5.2,3,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00407391
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 9.58036e-06
+num_states: 516
+states:
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+ - [1.29995,1.28883]
+ - [1.29995,1.28875]
+ - [1.29995,1.28871]
+ - [1.29995,1.28872]
+ - [1.29995,1.28881]
+ - [1.29995,1.289]
+ - [1.29995,1.28931]
+ - [1.29996,1.28977]
+ - [1.29996,1.29043]
+ - [1.29996,1.29133]
+ - [1.29996,1.29254]
+ - [1.29996,1.29413]
+ - [1.29996,1.29618]
+ - [1.29997,1.2988]
+ - [1.29997,1.2999]
+ - [1.29997,1.2999]
+ - [1.29997,1.2999]
+ - [1.29997,1.29991]
+ - [1.29997,1.29991]
+ - [1.29997,1.29991]
+ - [1.29996,1.29991]
+ - [1.29996,1.29991]
+ - [1.29996,1.29992]
+ - [1.29996,1.29992]
+ - [1.29996,1.29993]
+ - [1.29996,1.29993]
+ - [1.29995,1.29993]
+ - [1.29995,1.29994]
+ - [1.29995,1.29994]
+ - [1.29994,1.29995]
+ - [1.29994,1.29996]
+ - [1.29993,1.29996]
+ - [1.29993,1.29997]
+ - [1.29992,1.29998]
+ - [1.29992,1.29998]
+ - [1.29991,1.29999]
+ - [1.29991,1.3]
+ - [1.29504,1.30001]
+ - [1.2701,1.30001]
+info: "ddp_iterations=42;ddp_time=159.720003"
diff --git a/envs/quad2d_v0/quad_bugtrap/rrt_to_v0_guess_v0.yaml b/envs/quad2d_v0/quad_bugtrap/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..3a17907
--- /dev/null
+++ b/envs/quad2d_v0/quad_bugtrap/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,46 @@
+time_stamp: 161
+cost: 2.68639
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [3.8,3,0,0,0,0]
+goal: [5.2,3,0,0,0,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 8
+states:
+ - [3.8,3,0,0,0,0]
+ - [2.88341,2.82568,0.367313,0,0,0]
+ - [0.79915,3.2771,0.530002,0,0,0]
+ - [1.26079,5.16775,1.52514,0,0,0]
+ - [3.02807,5.45884,1.22912,0,0,0]
+ - [4.57372,5.04723,1.74404,0,0,0]
+ - [5.24723,4.42632,1.77081,0,0,0]
+ - [5.2,3,0,0,0,0]
+num_actions: 7
+actions:
+ - [1,1]
+ - [1,1]
+ - [1,1]
+ - [1,1]
+ - [1,1]
+ - [1,1]
+ - [1,1]
+num_times: 8
+times:
+ - 0
+ - 0.233256
+ - 0.766401
+ - 1.25295
+ - 1.70072
+ - 2.1006
+ - 2.32961
+ - 2.68639
diff --git a/envs/quad2d_v0/quad_obs_column.yaml b/envs/quad2d_v0/quad_obs_column.yaml
new file mode 100644
index 0000000..3c3c2d6
--- /dev/null
+++ b/envs/quad2d_v0/quad_obs_column.yaml
@@ -0,0 +1,12 @@
+name: quad2d_v0-column
+environment:
+ min: [0., 0.]
+ max: [6., 5.]
+ obstacles:
+ - type: box
+ center: [3, 1]
+ size: [.4, 4]
+robots:
+ - type: quad2d_v0
+ start: [2., 1., 0., 0., 0., 0.] # x,y,theta,v,w
+ goal: [4., 1., 0., 0., 0., 0] # x,y,theta,v,w
diff --git a/envs/quad2d_v0/quad_obs_column/idbastar_v0_db_solution_v0.yaml b/envs/quad2d_v0/quad_obs_column/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..17945d2
--- /dev/null
+++ b/envs/quad2d_v0/quad_obs_column/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,622 @@
+time_stamp: 9660.32
+cost: 3
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [2,1,0,0,0,0]
+goal: [4,1,0,0,0,0]
+max_jump: 0.247911
+max_collision: 0
+goal_distance: 0.44543
+start_distance: 0.0350648
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 301
+states:
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+ - [2,1,0.0688291,-0.00875649,0.0289814,-0.00166932]
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diff --git a/envs/quad2d_v0/quad_obs_column/idbastar_v0_opt_solution_v0.yaml b/envs/quad2d_v0/quad_obs_column/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..6c1a513
--- /dev/null
+++ b/envs/quad2d_v0/quad_obs_column/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,689 @@
+time_stamp: 10073
+cost: 3.33
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [2,1,0,0,0,0]
+goal: [4,1,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.0038406
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 334
+states:
+ - [2,1,0,0,0,0]
+ - [2,1,0,0,0.0294254,-3.02454e-05]
+ - [2,1.00029,-3.02454e-07,0,0.0588508,-7.05534e-05]
+ - [2,1.00088,-1.00799e-06,3.85705e-08,0.0882761,-0.000120243]
+ - [2,1.00177,-2.21042e-06,1.67114e-07,0.117701,-0.000178648]
+ - [2,1.00294,-3.9969e-06,4.48998e-07,0.147126,-0.000245119]
+ - [2,1.00441,-6.4481e-06,9.58703e-07,0.176551,-0.000319021]
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+ - [1.29992,1.29539]
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+ - [1.29992,1.29515]
+ - [1.29992,1.29508]
+ - [1.29993,1.295]
+ - [1.29993,1.29494]
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+ - [1.29993,1.29481]
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+ - [1.29996,1.29387]
+ - [1.29996,1.29407]
+ - [1.29997,1.29436]
+ - [1.29997,1.29476]
+ - [1.29997,1.2953]
+ - [1.29997,1.29601]
+ - [1.29997,1.29694]
+ - [1.29997,1.29813]
+ - [1.29998,1.29963]
+ - [1.29998,1.2999]
+ - [1.29998,1.2999]
+ - [1.29998,1.2999]
+ - [1.29998,1.2999]
+ - [1.29998,1.2999]
+ - [1.29998,1.29991]
+ - [1.29998,1.29991]
+ - [1.29998,1.29991]
+ - [1.29998,1.29991]
+ - [1.29998,1.29991]
+ - [1.29998,1.29991]
+ - [1.29998,1.29992]
+ - [1.29998,1.29992]
+ - [1.29998,1.29992]
+ - [1.29998,1.29992]
+ - [1.29998,1.29993]
+ - [1.29998,1.29993]
+ - [1.29997,1.29993]
+ - [1.29997,1.29994]
+ - [1.29997,1.29994]
+ - [1.29997,1.29995]
+ - [1.29997,1.29995]
+ - [1.29996,1.29995]
+info: "ddp_iterations=37;ddp_time=91.400463"
diff --git a/envs/quad2d_v0/quad_obs_column/idbastar_v0_solution_v0.yaml b/envs/quad2d_v0/quad_obs_column/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..3ead418
--- /dev/null
+++ b/envs/quad2d_v0/quad_obs_column/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,685 @@
+time_stamp: 40510.3
+cost: 3.31
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [2,1,0,0,0,0]
+goal: [4,1,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00453609
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 5e-05
+num_states: 332
+states:
+ - [2,1,0,0,0,0]
+ - [2,1,0,0,0.0294256,-8.86811e-05]
+ - [2,1.00029,-8.86811e-07,0,0.0588512,-0.000183953]
+ - [2,1.00088,-2.72634e-06,1.13091e-07,0.0882766,-0.000285256]
+ - [2,1.00177,-5.5789e-06,4.60769e-07,0.117702,-0.00039204]
+ - [2,1.00294,-9.4993e-06,1.17222e-06,0.147127,-0.000503773]
+ - [2,1.00441,-1.4537e-05,2.38362e-06,0.176552,-0.000619934]
+ - [2,1.00618,-2.07364e-05,4.23746e-06,0.205978,-0.000740018]
+ - [2,1.00824,-2.81366e-05,6.88186e-06,0.235403,-0.000863533]
+ - [2,1.01059,-3.67719e-05,1.047e-05,0.264828,-0.000989999]
+ - [2,1.01324,-4.66719e-05,1.51593e-05,0.294252,-0.00111895]
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+ - [2,1.03531,-0.000133714,7.56424e-05,0.4708,-0.00192059]
+ - [2,1.04002,-0.00015292,9.26942e-05,0.500224,-0.00205509]
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+ - [1.29999,1.29332]
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+ - [1.29999,1.2936]
+ - [1.29999,1.29386]
+ - [1.29999,1.29423]
+ - [1.3,1.29474]
+ - [1.3,1.29542]
+ - [1.3,1.29632]
+ - [1.3,1.29748]
+ - [1.3,1.29897]
+ - [1.30001,1.2999]
+ - [1.30001,1.2999]
+ - [1.30001,1.2999]
+ - [1.30001,1.2999]
+ - [1.30001,1.2999]
+ - [1.30001,1.29991]
+ - [1.30001,1.29991]
+ - [1.30001,1.29991]
+ - [1.30001,1.29991]
+ - [1.30001,1.29991]
+ - [1.30001,1.29991]
+ - [1.30001,1.29992]
+ - [1.30001,1.29992]
+ - [1.30001,1.29992]
+ - [1.30001,1.29993]
+ - [1.30001,1.29993]
+ - [1.30001,1.29993]
+ - [1.30001,1.29994]
+ - [1.3,1.29994]
+ - [1.3,1.29994]
+ - [1.3,1.29995]
+ - [1.3,1.29995]
+ - [1.29999,1.29996]
+info: "ddp_iterations=50;ddp_time=142.486844"
diff --git a/envs/quad2d_v0/quad_obs_column/rrt_to_v0_guess_v0.yaml b/envs/quad2d_v0/quad_obs_column/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..09075b3
--- /dev/null
+++ b/envs/quad2d_v0/quad_obs_column/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,40 @@
+time_stamp: 4
+cost: 2.0029
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [2,1,0,0,0,0]
+goal: [4,1,0,0,0,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 6
+states:
+ - [2,1,0,0,0,0]
+ - [1.39436,2.36132,0.592471,0,0,0]
+ - [1.97375,3.80041,0.592886,0,0,0]
+ - [4.29326,3.4353,0.163642,0,0,0]
+ - [4.63262,2.61472,0.0655916,0,0,0]
+ - [4,1,0,0,0,0]
+num_actions: 5
+actions:
+ - [1,1]
+ - [1,1]
+ - [1,1]
+ - [1,1]
+ - [1,1]
+num_times: 6
+times:
+ - 0
+ - 0.372492
+ - 0.760327
+ - 1.34734
+ - 1.56934
+ - 2.0029
diff --git a/envs/quad2d_v0/quad_obs_column/rrt_to_v0_solution_v0.yaml b/envs/quad2d_v0/quad_obs_column/rrt_to_v0_solution_v0.yaml
new file mode 100644
index 0000000..74ccfd3
--- /dev/null
+++ b/envs/quad2d_v0/quad_obs_column/rrt_to_v0_solution_v0.yaml
@@ -0,0 +1,683 @@
+time_stamp: 9.61358e-317
+cost: 3.3
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [2,1,0,0,0,0]
+goal: [4,1,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00554411
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 5.26941e-05
+num_states: 331
+states:
+ - [2,1,0,0,0,0]
+ - [2,1,0,0,0.0294242,-3.09207e-05]
+ - [2,1.00029,-3.09207e-07,0,0.0588484,-6.90158e-05]
+ - [2,1.00088,-9.99366e-07,3.94314e-08,0.0882724,-0.000113767]
+ - [2,1.00177,-2.13703e-06,1.66874e-07,0.117696,-0.000164666]
+ - [2,1.00294,-3.78369e-06,4.39397e-07,0.14712,-0.000221219]
+ - [2,1.00441,-5.99588e-06,9.21908e-07,0.176544,-0.000282941]
+ - [2,1.00618,-8.82528e-06,1.68652e-06,0.205968,-0.00034936]
+ - [2,1.00824,-1.23189e-05,2.81196e-06,0.235392,-0.000420015]
+ - [2,1.01059,-1.6519e-05,4.38291e-06,0.264815,-0.000494458]
+ - [2,1.01324,-2.14636e-05,6.48947e-06,0.294239,-0.00057225]
+ - [2,1.01618,-2.71861e-05,9.22659e-06,0.323662,-0.000652966]
+ - [2,1.01942,-3.37158e-05,1.26935e-05,0.353086,-0.00073619]
+ - [2,1.02295,-4.10777e-05,1.6993e-05,0.382509,-0.00082152]
+ - [2,1.02678,-4.92929e-05,2.22314e-05,0.411932,-0.000908564]
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+ - [2,1.05591,-0.000117203,7.95964e-05,0.58847,-0.00144632]
+ - [2,1.06179,-0.000131666,9.45408e-05,0.617879,-0.00202639]
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+ - [1.29995,1.30004]
+ - [1.29994,1.30005]
+info: "ddp_iterations=78;ddp_time=282.383527"
diff --git a/envs/quad2dpole_v0/down.yaml b/envs/quad2dpole_v0/down.yaml
new file mode 100644
index 0000000..e31e157
--- /dev/null
+++ b/envs/quad2dpole_v0/down.yaml
@@ -0,0 +1,10 @@
+name: quad2dpole_v0-down
+environment:
+ min: [-2, -2]
+ max: [2, 2]
+ obstacles: []
+robots:
+ - type: quad2dpole_v0
+ goal: [0, 0, 0.0, 0, 0, 0, 0, 0]
+ # goal: [0,0,0,0,0,0,0,0]
+ start: [0, 0, 0, 3.14, 0, 0, 0, 0]
diff --git a/envs/quad2dpole_v0/down/idbastar_v0_db_solution_v0.yaml b/envs/quad2dpole_v0/down/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..70718a5
--- /dev/null
+++ b/envs/quad2dpole_v0/down/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,654 @@
+time_stamp: 2037.71
+cost: 3.16
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,3.14,0,0,0,0]
+goal: [0,0,0,0,0,0,0,0]
+max_jump: 0.392665
+max_collision: 0
+goal_distance: 0.648474
+start_distance: 0.382939
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 317
+states:
+ - [-5.52413e-08,6.11518e-08,0.0685141,2.82311,2.52818e-08,5.97638e-08,-0.200668,0.750516]
+ - [-5.49885e-08,6.17494e-08,0.0665075,2.83062,-0.0103181,0.00785617,-0.140442,0.654082]
+ - [-0.000103235,7.86235e-05,0.065103,2.83716,-0.0206471,0.0185832,-0.0785478,0.555825]
+ - [-0.000309707,0.000264456,0.0643176,2.84271,-0.0309829,0.0315028,-0.0153732,0.456291]
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diff --git a/envs/quad2dpole_v0/down/idbastar_v0_opt_solution_v0.yaml b/envs/quad2dpole_v0/down/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..57640e2
--- /dev/null
+++ b/envs/quad2dpole_v0/down/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,801 @@
+time_stamp: 2959.91
+cost: 3.89
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,3.14,0,0,0,0]
+goal: [0,0,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00162198
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 390
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+ - [1.45047,0.452475]
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+ - [1.5547,0.258125]
+ - [1.61147,0.159284]
+ - [1.67192,0.00176618]
+ - [1.73541,0]
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+ - [1.94985,0]
+ - [2.03068,0]
+ - [2.11584,0]
+ - [2.20548,0]
+ - [2.29976,0]
+info: "ddp_iterations=17;ddp_time=153.590670"
diff --git a/envs/quad2dpole_v0/down/idbastar_v0_solution_v0.yaml b/envs/quad2dpole_v0/down/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..01625be
--- /dev/null
+++ b/envs/quad2dpole_v0/down/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,667 @@
+time_stamp: 4710.93
+cost: 3.22
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,3.14,0,0,0,0]
+goal: [0,0,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00181128
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 323
+states:
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diff --git a/envs/quad2dpole_v0/down/rrt_to_v0_guess_v0.yaml b/envs/quad2dpole_v0/down/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..cec87bb
--- /dev/null
+++ b/envs/quad2dpole_v0/down/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,28 @@
+time_stamp: 0
+cost: 0.628
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [0,0,0,3.14,0,0,0,0]
+goal: [0,0,0,0,0,0,0,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 2
+states:
+ - [0,0,0,3.14,0,0,0,0]
+ - [0,0,0,0,0,0,0,0]
+num_actions: 1
+actions:
+ - [1,1]
+num_times: 2
+times:
+ - 0
+ - 0.628
diff --git a/envs/quad2dpole_v0/down/rrt_to_v0_solution_v0.yaml b/envs/quad2dpole_v0/down/rrt_to_v0_solution_v0.yaml
new file mode 100644
index 0000000..d665ab7
--- /dev/null
+++ b/envs/quad2dpole_v0/down/rrt_to_v0_solution_v0.yaml
@@ -0,0 +1,1155 @@
+time_stamp: 4.42054e-317
+cost: 5.66
+feasible: 1
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+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,3.14,0,0,0,0]
+goal: [0,0,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.000501148
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 567
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+ - [1.60825,0.569376]
+ - [1.62712,0.55125]
+info: "ddp_iterations=82;ddp_time=1661.183687"
diff --git a/envs/quad2dpole_v0/motions/quad2dpole_all.bin.im.bin.sp1.bin.ca.bin.small.msgpack b/envs/quad2dpole_v0/motions/quad2dpole_all.bin.im.bin.sp1.bin.ca.bin.small.msgpack
new file mode 100644
index 0000000..38027ea
Binary files /dev/null and b/envs/quad2dpole_v0/motions/quad2dpole_all.bin.im.bin.sp1.bin.ca.bin.small.msgpack differ
diff --git a/envs/quad2dpole_v0/move_with_down.yaml b/envs/quad2dpole_v0/move_with_down.yaml
new file mode 100644
index 0000000..b37fd40
--- /dev/null
+++ b/envs/quad2dpole_v0/move_with_down.yaml
@@ -0,0 +1,9 @@
+name: quad2dpole_v0-move_with_down
+environment:
+ min: [-1, -1]
+ max: [2, 2]
+ obstacles: []
+robots:
+ - type: quad2dpole_v0
+ start: [0, 0, 0, 0, 0, 0, 0, 0]
+ goal: [1, 0, 0, 0, 0, 0, 0, 0]
diff --git a/envs/quad2dpole_v0/move_with_down/idbastar_v0_db_solution_v0.yaml b/envs/quad2dpole_v0/move_with_down/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..2cc7a6e
--- /dev/null
+++ b/envs/quad2dpole_v0/move_with_down/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,302 @@
+time_stamp: 56.0654
+cost: 1.4
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,0,0,0,0,0]
+goal: [1,0,0,0,0,0,0,0]
+max_jump: 0.346081
+max_collision: 0
+goal_distance: 0.635729
+start_distance: 0.321524
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 141
+states:
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diff --git a/envs/quad2dpole_v0/move_with_down/idbastar_v0_opt_solution_v0.yaml b/envs/quad2dpole_v0/move_with_down/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..6d2bcf1
--- /dev/null
+++ b/envs/quad2dpole_v0/move_with_down/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,507 @@
+time_stamp: 550.087
+cost: 2.42
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,0,0,0,0,0]
+goal: [1,0,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00577538
+start_distance: 0
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+u_bound_distance: 0
+num_states: 243
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diff --git a/envs/quad2dpole_v0/move_with_down/idbastar_v0_solution_v0.yaml b/envs/quad2dpole_v0/move_with_down/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..5135f20
--- /dev/null
+++ b/envs/quad2dpole_v0/move_with_down/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,505 @@
+time_stamp: 1798.8
+cost: 2.41
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diff --git a/envs/quad2dpole_v0/move_with_down/rrt_to_v0_guess_v0.yaml b/envs/quad2dpole_v0/move_with_down/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..39f2c0e
--- /dev/null
+++ b/envs/quad2dpole_v0/move_with_down/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,28 @@
+time_stamp: 0
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+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 2
+states:
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+num_actions: 1
+actions:
+ - [1,1]
+num_times: 2
+times:
+ - 0
+ - 0.333333
diff --git a/envs/quad2dpole_v0/move_with_down/rrt_to_v0_solution_v0.yaml b/envs/quad2dpole_v0/move_with_down/rrt_to_v0_solution_v0.yaml
new file mode 100644
index 0000000..93f40c4
--- /dev/null
+++ b/envs/quad2dpole_v0/move_with_down/rrt_to_v0_solution_v0.yaml
@@ -0,0 +1,495 @@
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+info: "ddp_iterations=18;ddp_time=169.917294"
diff --git a/envs/quad2dpole_v0/move_with_up.yaml b/envs/quad2dpole_v0/move_with_up.yaml
new file mode 100644
index 0000000..e4291d1
--- /dev/null
+++ b/envs/quad2dpole_v0/move_with_up.yaml
@@ -0,0 +1,9 @@
+name: quad2dpole_v0-move_with_up
+environment:
+ min: [-1, -1]
+ max: [2, 2]
+ obstacles: []
+robots:
+ - type: quad2dpole_v0
+ start: [0, 0, 0, 3.14, 0, 0, 0, 0]
+ goal: [1, 0, 0, 3.14, 0, 0, 0, 0]
diff --git a/envs/quad2dpole_v0/move_with_up/idbastar_v0_db_solution_v0.yaml b/envs/quad2dpole_v0/move_with_up/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..adc0990
--- /dev/null
+++ b/envs/quad2dpole_v0/move_with_up/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,780 @@
+time_stamp: 5206.06
+cost: 3.79
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,3.14,0,0,0,0]
+goal: [1,0,0,3.14,0,0,0,0]
+max_jump: 0.394529
+max_collision: 0
+goal_distance: 0.704875
+start_distance: 0.382939
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 380
+states:
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diff --git a/envs/quad2dpole_v0/move_with_up/idbastar_v0_opt_solution_v0.yaml b/envs/quad2dpole_v0/move_with_up/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..a797eaf
--- /dev/null
+++ b/envs/quad2dpole_v0/move_with_up/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,1063 @@
+time_stamp: 6953.59
+cost: 5.2
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+goal_distance: 0.00624646
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+ - [0,1.86729]
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+ - [0,2.19746]
+info: "ddp_iterations=14;ddp_time=153.635654"
diff --git a/envs/quad2dpole_v0/move_with_up/idbastar_v0_solution_v0.yaml b/envs/quad2dpole_v0/move_with_up/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..4755dd8
--- /dev/null
+++ b/envs/quad2dpole_v0/move_with_up/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,795 @@
+time_stamp: 10961.7
+cost: 3.86
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,3.14,0,0,0,0]
+goal: [1,0,0,3.14,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00494008
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 387
+states:
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+ - [1.64762,0.952337]
+ - [1.63625,0.965921]
+ - [1.62205,0.980854]
+ - [1.60479,0.99717]
+ - [1.58425,1.0149]
+ - [1.56018,1.03409]
+ - [1.53235,1.05476]
+ - [1.50052,1.07696]
+ - [1.46444,1.10073]
+ - [1.42388,1.12613]
+ - [1.37859,1.15322]
+ - [1.32837,1.18205]
+ - [1.27299,1.21272]
+ - [1.21226,1.24532]
+ - [1.14602,1.27996]
+ - [1.07412,1.31678]
+ - [0.996451,1.35595]
+ - [0.912957,1.39768]
+ - [0.823619,1.44219]
+ - [0.728479,1.48978]
+ - [0.627643,1.5408]
+ - [0.521291,1.59564]
+ - [0.409685,1.6548]
+ - [0.293178,1.71883]
+ - [0.172221,1.78841]
+ - [0.0473719,1.86432]
+ - [0,1.94771]
+ - [0,2.04003]
+ - [0,2.14267]
+ - [0,2.2571]
+info: "ddp_iterations=8;ddp_time=65.153836"
diff --git a/envs/quad2dpole_v0/move_with_up/rrt_to_v0_guess_v0.yaml b/envs/quad2dpole_v0/move_with_up/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..c4b6542
--- /dev/null
+++ b/envs/quad2dpole_v0/move_with_up/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,28 @@
+time_stamp: 6
+cost: 0.333333
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [0,0,0,3.14,0,0,0,0]
+goal: [1,0,0,3.14,0,0,0,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 2
+states:
+ - [0,0,0,3.14,0,0,0,0]
+ - [1,0,0,3.14,0,0,0,0]
+num_actions: 1
+actions:
+ - [1,1]
+num_times: 2
+times:
+ - 0
+ - 0.333333
diff --git a/envs/quad2dpole_v0/move_with_up/rrt_to_v0_solution_v0.yaml b/envs/quad2dpole_v0/move_with_up/rrt_to_v0_solution_v0.yaml
new file mode 100644
index 0000000..897e05d
--- /dev/null
+++ b/envs/quad2dpole_v0/move_with_up/rrt_to_v0_solution_v0.yaml
@@ -0,0 +1,635 @@
+time_stamp: 1.7619e-316
+cost: 3.06
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,3.14,0,0,0,0]
+goal: [1,0,0,3.14,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00715581
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 307
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+info: "ddp_iterations=5;ddp_time=27.561588"
diff --git a/envs/quad2dpole_v0/up.yaml b/envs/quad2dpole_v0/up.yaml
new file mode 100644
index 0000000..81634a9
--- /dev/null
+++ b/envs/quad2dpole_v0/up.yaml
@@ -0,0 +1,10 @@
+name: quad2dpole_v0-up
+environment:
+ min: [-3, -3]
+ max: [3, 5]
+ obstacles: []
+robots:
+ - type: quad2dpole_v0
+ start: [0, 0, 0.0, .0, 0, 0, 0, 0]
+ # goal: [0,0,0,0,0,0,0,0]
+ goal: [.6, 0, 0, 3.14, 0, 0, 0, 0]
diff --git a/envs/quad2dpole_v0/up/idbastar_v0_db_solution_v0.yaml b/envs/quad2dpole_v0/up/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..84ce34a
--- /dev/null
+++ b/envs/quad2dpole_v0/up/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,664 @@
+time_stamp: 21887.1
+cost: 3.21
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,0,0,0,0,0]
+goal: [0.6,0,0,3.14,0,0,0,0]
+max_jump: 0.394093
+max_collision: 0
+goal_distance: 0.783363
+start_distance: 0.307681
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 322
+states:
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+ - [-2.23665e-05,0.000201032,0.0428894,0.174881,-0.00461264,0.0345778,0.436633,0.567289]
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diff --git a/envs/quad2dpole_v0/up/idbastar_v0_opt_solution_v0.yaml b/envs/quad2dpole_v0/up/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..625c6d2
--- /dev/null
+++ b/envs/quad2dpole_v0/up/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,661 @@
+time_stamp: 22798.5
+cost: 3.19
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,0,0,0,0,0]
+goal: [0.6,0,0,3.14,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00687499
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 320
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+info: "ddp_iterations=11;ddp_time=60.835373"
diff --git a/envs/quad2dpole_v0/up/idbastar_v0_solution_v0.yaml b/envs/quad2dpole_v0/up/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..b5657f9
--- /dev/null
+++ b/envs/quad2dpole_v0/up/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,637 @@
+time_stamp: 23378.7
+cost: 3.07
+feasible: 1
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+start: [0,0,0,0,0,0,0,0]
+goal: [0.6,0,0,3.14,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.0080778
+start_distance: 0
+x_bound_distance: 0
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+num_states: 308
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+ - [1.9222,0.145544]
+ - [2.04104,0]
+ - [2.17386,0]
+ - [2.32357,0]
+info: "ddp_iterations=9;ddp_time=53.748969"
diff --git a/envs/quad2dpole_v0/up/rrt_to_v0_guess_v0.yaml b/envs/quad2dpole_v0/up/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..4b2b8c3
--- /dev/null
+++ b/envs/quad2dpole_v0/up/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,28 @@
+time_stamp: 1
+cost: 0.628
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [0,0,0,0,0,0,0,0]
+goal: [0.6,0,0,3.14,0,0,0,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 2
+states:
+ - [0,0,0,0,0,0,0,0]
+ - [0.6,0,0,3.14,0,0,0,0]
+num_actions: 1
+actions:
+ - [1,1]
+num_times: 2
+times:
+ - 0
+ - 0.628
diff --git a/envs/quad2dpole_v0/up/rrt_to_v0_solution_v0.yaml b/envs/quad2dpole_v0/up/rrt_to_v0_solution_v0.yaml
new file mode 100644
index 0000000..70123e2
--- /dev/null
+++ b/envs/quad2dpole_v0/up/rrt_to_v0_solution_v0.yaml
@@ -0,0 +1,769 @@
+time_stamp: 1.93339e-316
+cost: 3.73
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,0,0,0,0,0]
+goal: [0.6,0,0,3.14,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00973758
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 374
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+ - [1.18635,1.28737]
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+ - [0.606595,1.5684]
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+ - [0,1.95205]
+ - [0,2.07506]
+ - [0,2.21403]
+ - [0,2.37178]
+ - [0,2.55159]
+info: "ddp_iterations=94;ddp_time=1853.294425"
diff --git a/envs/quad2dpole_v0/up_obs.yaml b/envs/quad2dpole_v0/up_obs.yaml
new file mode 100644
index 0000000..416a77c
--- /dev/null
+++ b/envs/quad2dpole_v0/up_obs.yaml
@@ -0,0 +1,17 @@
+name: quad2dpole_v0-obstacles
+environment:
+ #original
+ min: [-2, -1]
+ max: [2, 4]
+ #for visualization
+ # min: [-2, -1.5]
+ # max: [3, 4]
+ obstacles:
+ - type: "box"
+ size: [3, .2]
+ center: [-1, 1]
+robots:
+ - type: quad2dpole_v0
+ start: [0, 0, 0.0, .1, 0, 0, 0, 0]
+ # goal: [0,0,0,0,0,0,0,0]
+ goal: [0, 2, 0, 3.14, 0, 0, 0, 0]
diff --git a/envs/quad2dpole_v0/up_obs/idbastar_v0_db_solution_v0.yaml b/envs/quad2dpole_v0/up_obs/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..7d4b314
--- /dev/null
+++ b/envs/quad2dpole_v0/up_obs/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,760 @@
+time_stamp: 4995.93
+cost: 3.69
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,0.1,0,0,0,0]
+goal: [0,2,0,3.14,0,0,0,0]
+max_jump: 0.390972
+max_collision: 0
+goal_distance: 0.799272
+start_distance: 0.371524
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 370
+states:
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diff --git a/envs/quad2dpole_v0/up_obs/idbastar_v0_opt_solution_v0.yaml b/envs/quad2dpole_v0/up_obs/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..19558cd
--- /dev/null
+++ b/envs/quad2dpole_v0/up_obs/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,813 @@
+time_stamp: 5827.1
+cost: 3.95
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,0.1,0,0,0,0]
+goal: [0,2,0,3.14,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00548925
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 396
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+ - [0,1.81819]
+ - [0,1.90542]
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+ - [0,2.10766]
+ - [0,2.22782]
+info: "ddp_iterations=8;ddp_time=26.853368"
diff --git a/envs/quad2dpole_v0/up_obs/idbastar_v0_solution_v0.yaml b/envs/quad2dpole_v0/up_obs/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..3ce16a5
--- /dev/null
+++ b/envs/quad2dpole_v0/up_obs/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,805 @@
+time_stamp: 6803.23
+cost: 3.91
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,0.1,0,0,0,0]
+goal: [0,2,0,3.14,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00588336
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 392
+states:
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+ - [1.69838,0.923165]
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+ - [1.52987,1.03563]
+ - [1.48455,1.06013]
+ - [1.43351,1.08635]
+ - [1.37646,1.11434]
+ - [1.31316,1.14413]
+ - [1.24335,1.1758]
+ - [1.16685,1.20943]
+ - [1.08348,1.24514]
+ - [0.993134,1.28306]
+ - [0.895753,1.32337]
+ - [0.791352,1.36628]
+ - [0.68002,1.41207]
+ - [0.561942,1.46108]
+ - [0.4374,1.51371]
+ - [0.30679,1.57046]
+ - [0.170629,1.63192]
+ - [0.0295687,1.6988]
+ - [0,1.77233]
+ - [0,1.85399]
+ - [0,1.94512]
+ - [0,2.04718]
+ - [0,2.16178]
+ - [0,2.29079]
+info: "ddp_iterations=9;ddp_time=30.584204"
diff --git a/envs/quad2dpole_v0/up_obs/rrt_to_v0_guess_v0.yaml b/envs/quad2dpole_v0/up_obs/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..87040e0
--- /dev/null
+++ b/envs/quad2dpole_v0/up_obs/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,40 @@
+time_stamp: 3
+cost: 1.99604
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [0,0,0,0.1,0,0,0,0]
+goal: [0,2,0,3.14,0,0,0,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 6
+states:
+ - [0,0,0,0.1,0,0,0,0]
+ - [0.948773,0.570607,-0.41301,1.28254,0,0,0,0]
+ - [1.39958,2.10823,-1.45192,1.22053,0,0,0,0]
+ - [1.82226,2.19776,0.808007,1.0124,0,0,0,0]
+ - [0.692705,1.79331,1.03381,2.01062,0,0,0,0]
+ - [0,2,0,3.14,0,0,0,0]
+num_actions: 5
+actions:
+ - [1,1]
+ - [1,1]
+ - [1,1]
+ - [1,1]
+ - [1,1]
+num_times: 6
+times:
+ - 0
+ - 0.369047
+ - 0.903163
+ - 1.35515
+ - 1.75507
+ - 1.99604
diff --git a/envs/quad2dpole_v0/window.yaml b/envs/quad2dpole_v0/window.yaml
new file mode 100644
index 0000000..b711521
--- /dev/null
+++ b/envs/quad2dpole_v0/window.yaml
@@ -0,0 +1,28 @@
+name: quad2dpole_v0-window
+environment:
+ min: [-1, 0]
+ max: [5, 3.5]
+ obstacles:
+ # - type: box
+ # center: [2, 0]
+ # size: [.4,4]
+ #
+ # - type: box
+ # center: [2, 4]
+ # size: [.4,2]
+ #
+
+ - type: box
+ center: [2, -0.5]
+ size: [.4, 4.5]
+
+ - type: box
+ center: [2, 4]
+ size: [.4, 2]
+
+robots:
+ - type: quad2dpole_v0
+ # start: [0,0,0.0,.1,0,0,0,0]
+ start: [0, 1, 0, 0., 0, 0, 0, 0]
+ # goal: [0,0,0,0,0,0,0,0]
+ goal: [3.5, 1, 0, 3.14, 0, 0, 0, 0]
diff --git a/envs/quad2dpole_v0/window/idbastar_v0_db_solution_v0.yaml b/envs/quad2dpole_v0/window/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..b4edf35
--- /dev/null
+++ b/envs/quad2dpole_v0/window/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,950 @@
+time_stamp: 24594.2
+cost: 4.64
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,1,0,0,0,0,0,0]
+goal: [3.5,1,0,3.14,0,0,0,0]
+max_jump: 0.399629
+max_collision: 0
+goal_distance: 0.778569
+start_distance: 0.307681
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 465
+states:
+ - [5.43862e-08,1,0.0361349,0.16093,1.2655e-08,4.79227e-08,0.303666,0.742075]
+ - [5.45128e-08,1,0.0391715,0.168351,-0.00223229,0.0201097,0.37178,0.653006]
+ - [-2.22683e-05,1.0002,0.0428893,0.174881,-0.00461258,0.0345779,0.436633,0.567289]
+ - [-6.83942e-05,1.00055,0.0472557,0.180554,-0.00720268,0.0435855,0.498334,0.484976]
+ - [-0.000140421,1.00098,0.052239,0.185403,-0.0100495,0.0473136,0.556991,0.406095]
+ - [-0.000240916,1.00146,0.0578089,0.189464,-0.0131869,0.0459438,0.612713,0.33065]
+ - [-0.000372786,1.00192,0.063936,0.192771,-0.0166374,0.0396589,0.665609,0.258627]
+ - [-0.00053916,1.00231,0.0705921,0.195357,-0.0204133,0.0286403,0.715789,0.18999]
+ - [-0.000743293,1.0026,0.07775,0.197257,-0.0245187,0.0130689,0.763359,0.124691]
+ - [-0.000988479,1.00273,0.0853836,0.198504,-0.0289503,-0.00687549,0.808427,0.0626639]
+ - [-0.00127798,1.00266,0.0934679,0.199131,-0.0336989,-0.0310152,0.851099,0.00383468]
+ - [-0.00161497,1.00235,0.101979,0.199169,-0.0387504,-0.0591752,0.891479,-0.0518822]
+ - [-0.00200247,1.00176,0.110894,0.19865,-0.0440869,-0.0911829,0.92967,-0.10458]
+ - [-0.00244334,1.00085,0.12019,0.197604,-0.0496871,-0.12687,0.96577,-0.154359]
+ - [-0.00294021,0.999578,0.129848,0.196061,-0.0555279,-0.166071,0.999877,-0.201322]
+ - [-0.00349548,0.997917,-0.162579,0.159647,-0.061584,-0.208624,0.960084,0.617875]
+ - [-0.00411131,0.995831,-0.152978,0.165826,-0.0409209,-0.194248,0.893466,0.66416]
+ - [-0.00452052,0.993888,-0.144043,0.172467,-0.021394,-0.180425,0.827321,0.709341]
+ - [-0.00473446,0.992084,-0.13577,0.179561,-0.00292514,-0.167253,0.761695,0.753344]
+ - [-0.00476372,0.990412,-0.128153,0.187094,0.0145658,-0.154817,0.696624,0.796101]
+ - [-0.00461806,0.988863,-0.121187,0.195055,0.0311598,-0.143184,0.63214,0.837556]
+ - [-0.00430646,0.987432,-0.114866,0.203431,0.0469381,-0.132409,0.568265,0.877661]
+ - [-0.00383708,0.986107,-0.109183,0.212207,0.0619814,-0.12253,0.505014,0.916378]
+ - [-0.00321726,0.984882,-0.104133,0.221371,0.07637,-0.113573,0.442395,0.953674]
+ - [-0.00245356,0.983746,-0.0997089,0.230908,0.0901824,-0.105549,0.38041,0.989528]
+ - [-0.00155174,0.982691,-0.0959048,0.240803,0.103496,-0.0984595,0.319055,1.02392]
+ - [-0.000516782,0.981706,-0.0927142,0.251042,0.116386,-0.0922914,0.258318,1.05685]
+ - [0.000647077,0.980783,-0.090131,0.261611,0.128926,-0.0870227,0.198184,1.0883]
+ - [0.00193634,0.979913,-0.0881492,0.272494,0.141188,-0.0826207,0.138631,1.11828]
+ - [0.00334822,0.979087,-0.0867629,0.283677,0.153242,-0.0790443,0.0796321,1.14679]
+ - [0.00488063,0.978297,-0.0859666,0.295145,0.165155,-0.076244,0.0211566,1.17385]
+ - [0.00653219,0.977534,-0.085755,0.306883,0.176995,-0.0741625,-0.0368305,1.19945]
+ - [0.00830214,0.976792,-0.0861233,0.318878,0.188826,-0.0727365,-0.0943677,1.22361]
+ - [0.0101904,0.976065,-0.087067,0.331114,0.200713,-0.071897,-0.151497,1.24635]
+ - [0.0121975,0.975346,-0.0885819,0.343577,0.212717,-0.0715705,-0.208262,1.26769]
+ - [0.0143247,0.97463,-0.0906646,0.356254,0.225219,-0.0690541,-0.263211,1.28516]
+ - [0.0165769,0.97394,-0.0932967,0.369106,0.238311,-0.0641412,-0.316323,1.2986]
+ - [0.01896,0.973298,-0.0964599,0.382092,0.252089,-0.0566239,-0.367575,1.30783]
+ - [0.0214809,0.972732,-0.100136,0.39517,0.266656,-0.0462933,-0.416949,1.31268]
+ - [0.0241475,0.972269,-0.104305,0.408297,0.282116,-0.0329438,-0.464427,1.31296]
+ - [0.0269686,0.97194,-0.108949,0.421426,0.298578,-0.016375,-0.509992,1.30849]
+ - [0.0299544,0.971776,-0.114049,0.434511,0.316158,0.00360503,-0.553628,1.2991]
+ - [0.033116,0.971812,-0.119586,0.447502,0.334972,0.0271771,-0.595322,1.28461]
+ - [0.0364657,0.972084,-0.125539,0.460348,0.355143,0.054507,-0.635061,1.26486]
+ - [0.0400171,0.972629,-0.131889,0.472997,0.376795,0.0857447,-0.672836,1.23968]
+ - [0.0437851,0.973486,-0.138618,0.485394,0.400054,0.121019,-0.708637,1.20894]
+ - [0.0477856,0.974697,-0.145704,0.497483,0.42505,0.160435,-0.742456,1.17252]
+ - [0.0520361,0.976301,-0.153129,0.509208,0.451909,0.204072,-0.774288,1.1303]
+ - [0.0565552,0.978342,-0.160872,0.520511,0.480761,0.251984,-0.80413,1.0822]
+ - [0.0613628,0.980862,-0.168913,0.531333,0.51173,0.304189,-0.83198,1.02816]
+ - [0.0664801,0.983903,-0.177233,0.541615,0.544937,0.360677,-0.857838,0.968164]
+ - [0.0719295,0.98751,-0.185811,0.551297,0.580498,0.421397,-0.881707,0.902208]
+ - [0.0777345,0.991724,-0.194628,0.560319,0.618521,0.486267,-0.903593,0.830335]
+ - [0.0839197,0.996587,-0.203664,0.568622,0.659105,0.555164,-0.9235,0.752626]
+ - [0.0905107,1.00214,-0.212899,0.576148,0.702336,0.627924,-0.941441,0.669201]
+ - [0.0975341,1.00842,-0.222313,0.58284,0.748288,0.704349,-0.957425,0.580221]
+ - [0.105017,1.01546,-0.231888,0.588643,0.797019,0.784196,-0.971467,0.485891]
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diff --git a/envs/quad2dpole_v0/window/idbastar_v0_opt_solution_v0.yaml b/envs/quad2dpole_v0/window/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..50cd880
--- /dev/null
+++ b/envs/quad2dpole_v0/window/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,909 @@
+time_stamp: 26031.5
+cost: 4.43
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,1,0,0,0,0,0,0]
+goal: [3.5,1,0,3.14,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00711817
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 444
+states:
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+ - [0.312029,2.08537]
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+ - [0.0144469,2.34894]
+info: "ddp_iterations=22;ddp_time=125.990075"
diff --git a/envs/quad2dpole_v0/window/idbastar_v0_solution_v0.yaml b/envs/quad2dpole_v0/window/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..8907799
--- /dev/null
+++ b/envs/quad2dpole_v0/window/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,889 @@
+time_stamp: 31160.4
+cost: 4.33
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,1,0,0,0,0,0,0]
+goal: [3.5,1,0,3.14,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00725152
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 434
+states:
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+ - [1.78846,0.773074]
+ - [1.80181,0.775545]
+ - [1.8138,0.779839]
+ - [1.82423,0.786014]
+ - [1.83289,0.794128]
+ - [1.83953,0.804239]
+ - [1.84391,0.816406]
+ - [1.84576,0.830686]
+ - [1.8448,0.847138]
+ - [1.84073,0.865821]
+ - [1.83324,0.886796]
+ - [1.82199,0.910127]
+ - [1.80665,0.935881]
+ - [1.78685,0.964129]
+ - [1.76225,0.994949]
+ - [1.73245,1.02843]
+ - [1.69711,1.06466]
+ - [1.65583,1.10377]
+ - [1.60827,1.14587]
+ - [1.55406,1.19112]
+ - [1.49289,1.2397]
+ - [1.42446,1.29182]
+ - [1.3485,1.34774]
+ - [1.2648,1.40777]
+ - [1.17323,1.47227]
+ - [1.07369,1.5417]
+ - [0.966209,1.61659]
+ - [0.850899,1.69759]
+ - [0.727997,1.78546]
+ - [0.597874,1.88113]
+ - [0.461056,1.9857]
+ - [0.318241,2.10049]
+ - [0.170312,2.22704]
+ - [0.0183581,2.36722]
+info: "ddp_iterations=11;ddp_time=63.974770"
diff --git a/envs/quad2dpole_v0/window/rrt_to_v0_guess_v0.yaml b/envs/quad2dpole_v0/window/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..2807d8d
--- /dev/null
+++ b/envs/quad2dpole_v0/window/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,40 @@
+time_stamp: 2
+cost: 2.02516
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [0,1,0,0,0,0,0,0]
+goal: [3.5,1,0,3.14,0,0,0,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 6
+states:
+ - [0,1,0,0,0,0,0,0]
+ - [1.37548,1.13087,1.00001,-0.904861,0,0,0,0]
+ - [1.44773,2.19794,0.167063,-1.75415,0,0,0,0]
+ - [2.74348,2.60429,1.07498,-2.49644,0,0,0,0]
+ - [3.69927,2.21997,-0.375508,-2.31592,0,0,0,0]
+ - [3.5,1,0,3.14,0,0,0,0]
+num_actions: 5
+actions:
+ - [1,1]
+ - [1,1]
+ - [1,1]
+ - [1,1]
+ - [1,1]
+num_times: 6
+times:
+ - 0
+ - 0.460565
+ - 0.817071
+ - 1.26973
+ - 1.61311
+ - 2.02516
diff --git a/envs/quad2dpole_v0/window_easy.yaml b/envs/quad2dpole_v0/window_easy.yaml
new file mode 100644
index 0000000..92f037c
--- /dev/null
+++ b/envs/quad2dpole_v0/window_easy.yaml
@@ -0,0 +1,28 @@
+name: quad2dpole_v0-window_easy
+environment:
+ min: [-1, -1]
+ max: [5, 3]
+ obstacles:
+ # - type: box
+ # center: [2, 0]
+ # size: [.4,4]
+ #
+ # - type: box
+ # center: [2, 4]
+ # size: [.4,2]
+ #
+
+ - type: box
+ center: [2, -0.5]
+ size: [.4, 4]
+
+ # - type: box
+ # center: [2, 4]
+ # size: [.4,2]
+
+robots:
+ - type: quad2dpole_v0
+ # start: [0,0,0.0,.1,0,0,0,0]
+ start: [0, 0, 0, 0, 0, 0, 0, 0]
+ # goal: [0,0,0,0,0,0,0,0]
+ goal: [3, 0, 0, 3.14, 0, 0, 0, 0]
diff --git a/envs/quad2dpole_v0/window_easy/idbastar_v0_db_solution_v0.yaml b/envs/quad2dpole_v0/window_easy/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..77a204a
--- /dev/null
+++ b/envs/quad2dpole_v0/window_easy/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,1018 @@
+time_stamp: 34830.5
+cost: 4.98
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,0,0,0,0,0]
+goal: [3,0,0,3.14,0,0,0,0]
+max_jump: 0.398669
+max_collision: 0
+goal_distance: 0.715968
+start_distance: 0.321524
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 499
+states:
+ - [3.21205e-08,5.45503e-08,-0.0768499,-0.340322,-3.38917e-08,-2.60471e-08,-0.0232748,-0.541417]
+ - [3.17816e-08,5.42899e-08,-0.0770826,-0.345736,0.00607054,0.036822,-0.0999154,-0.415659]
+ - [6.07372e-05,0.000368275,-0.0780818,-0.349893,0.0121385,0.0737374,-0.176556,-0.289151]
+ - [0.000182123,0.00110565,-0.0798473,-0.352784,0.0183192,0.110726,-0.253197,-0.162068]
+ - [0.000365315,0.00221291,-0.0823793,-0.354405,0.0247274,0.147768,-0.329837,-0.0345849]
+ - [0.000612588,0.0036906,-0.0856777,-0.354751,0.0314774,0.184842,-0.406478,0.0931215]
+ - [0.000927363,0.00553901,-0.0897424,-0.35382,0.0386834,0.221924,-0.483119,0.220876]
+ - [0.0013142,0.00775826,-0.0945736,-0.351611,0.0464591,0.258991,-0.559759,0.348501]
+ - [0.00177879,0.0103482,-0.100171,-0.348126,0.0549179,0.296018,-0.6364,0.475822]
+ - [0.00232797,0.0133083,-0.106535,-0.343368,0.064173,0.332977,-0.71304,0.602661]
+ - [0.0029697,0.0166381,-0.113666,-0.337341,0.0737968,0.362666,-0.785608,0.722135]
+ - [0.00370767,0.0202648,-0.121522,-0.33012,0.0837677,0.384754,-0.853923,0.833863]
+ - [0.00454534,0.0241123,-0.130061,-0.321781,0.094103,0.399687,-0.918245,0.938218]
+ - [0.00548637,0.0281092,-0.139243,-0.312399,0.104808,0.407891,-0.978824,1.03558]
+ - [0.00653445,0.0321881,-0.149032,-0.302043,0.115878,0.409777,-1.0359,1.12633]
+ - [0.00769323,0.0362859,-0.159391,-0.29078,0.127302,0.405736,-1.08969,1.21084]
+ - [0.00896626,0.0403432,-0.170287,-0.278671,0.139089,0.396337,-1.1403,1.28944]
+ - [0.0103571,0.0443066,-0.18169,-0.265777,0.152128,0.388173,-1.18437,1.3608]
+ - [0.0118784,0.0481883,-0.193534,-0.252169,0.16657,0.381638,-1.22206,1.42508]
+ - [0.0135441,0.0520047,-0.205755,-0.237918,0.182574,0.377097,-1.25353,1.48245]
+ - [0.0153699,0.0557757,-0.21829,-0.223094,0.200304,0.374876,-1.27895,1.53302]
+ - [0.0173728,0.0595244,-0.072258,0.263241,0.219929,0.375268,-1.56467,1.53269]
+ - [0.0195721,0.0632771,-0.0879047,0.278568,0.233005,0.411251,-1.48803,1.41776]
+ - [0.0219022,0.0673896,-0.102785,0.292746,0.248362,0.4471,-1.41139,1.30066]
+ - [0.0243858,0.0718606,-0.116899,0.305752,0.26588,0.482785,-1.33475,1.18155]
+ - [0.0270446,0.0766884,-0.130246,0.317568,0.285442,0.518279,-1.25811,1.06062]
+ - [0.029899,0.0818712,-0.142827,0.328174,0.306927,0.553562,-1.18147,0.938026]
+ - [0.0329683,0.0874068,-0.154642,0.337554,0.330216,0.588614,-1.10483,0.813957]
+ - [0.0362704,0.093293,-0.16569,0.345694,0.355191,0.623421,-1.02819,0.688583]
+ - [0.0398224,0.0995272,-0.175972,0.352579,0.381733,0.65797,-0.951545,0.562081]
+ - [0.0436397,0.106107,-0.185488,0.3582,0.409724,0.692253,-0.874904,0.434627]
+ - [0.0477369,0.113029,-0.194237,0.362547,0.439045,0.726263,-0.798264,0.306397]
+ - [0.0521274,0.120292,-0.202219,0.36561,0.46958,0.759998,-0.721623,0.177569]
+ - [0.0568232,0.127892,-0.209436,0.367386,0.50121,0.793458,-0.644983,0.048319]
+ - [0.0618353,0.135827,-0.215885,0.367869,0.533818,0.826643,-0.568342,-0.0811746]
+ - [0.0671735,0.144093,-0.221569,0.367058,0.567286,0.859553,-0.491705,-0.210728]
+ - [0.0728463,0.152689,-0.226486,0.36495,0.601491,0.892177,-0.415083,-0.340146]
+ - [0.0788612,0.16161,-0.230637,0.361549,0.633399,0.913533,-0.344904,-0.458415]
+ - [0.0851952,0.170746,-0.234086,0.356965,0.662462,0.922383,-0.28192,-0.564174]
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+ - [0.105839,0.198258,0.0399225,0.43681,0.734923,0.888478,0.58699,-0.995135]
+ - [0.113188,0.207143,0.0457924,0.426859,0.734786,0.880983,0.599108,-1.04871]
+ - [0.120536,0.215953,0.0517835,0.416372,0.734073,0.873643,0.609198,-1.09948]
+ - [0.127877,0.224689,0.0578755,0.405377,0.732767,0.86654,0.617325,-1.1475]
+ - [0.135204,0.233355,0.0640487,0.393902,0.730848,0.859756,0.623554,-1.19282]
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+ - [0.238928,0.358631,0.155004,0.181754,0.615596,0.840742,0.532364,-1.56854]
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diff --git a/envs/quad2dpole_v0/window_easy/idbastar_v0_opt_solution_v0.yaml b/envs/quad2dpole_v0/window_easy/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..97b13f2
--- /dev/null
+++ b/envs/quad2dpole_v0/window_easy/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,843 @@
+time_stamp: 36928.5
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+start_distance: 0
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+num_states: 411
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+ - [2.01441,1.62689]
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+ - [2.17557,1.59742]
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+ - [2.2645,1.58048]
+ - [2.31121,1.57164]
+ - [2.35946,1.56264]
+ - [2.40927,1.55354]
+ - [2.46066,1.54441]
+ - [2.51363,1.53532]
+ - [2.56818,1.52635]
+ - [2.62427,1.51758]
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+ - [2.74092,1.50093]
+ - [2.80133,1.49323]
+ - [2.86301,1.48606]
+ - [2.92581,1.47948]
+ - [2.9896,1.47357]
+info: "ddp_iterations=10;ddp_time=59.971506"
diff --git a/envs/quad2dpole_v0/window_easy/idbastar_v0_solution_v0.yaml b/envs/quad2dpole_v0/window_easy/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..783202f
--- /dev/null
+++ b/envs/quad2dpole_v0/window_easy/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,687 @@
+time_stamp: 40842.5
+cost: 3.32
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0,0,0,0,0,0]
+goal: [3,0,0,3.14,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00205959
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 333
+states:
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+ - [1.99903,1.86317]
+ - [2.04737,1.85294]
+ - [2.09862,1.84014]
+ - [2.15298,1.82464]
+ - [2.21068,1.80631]
+ - [2.27196,1.78503]
+ - [2.33709,1.76065]
+ - [2.40637,1.73307]
+ - [2.48013,1.70217]
+ - [2.55873,1.66784]
+ - [2.64259,1.62999]
+ - [2.73215,1.58854]
+ - [2.82791,1.54343]
+ - [2.93046,1.49463]
+ - [3,1.44215]
+info: "ddp_iterations=14;ddp_time=69.595120"
diff --git a/envs/quad2dpole_v0/window_easy/rrt_to_v0_guess_v0.yaml b/envs/quad2dpole_v0/window_easy/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..91acbac
--- /dev/null
+++ b/envs/quad2dpole_v0/window_easy/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,46 @@
+time_stamp: 5
+cost: 3.07661
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [0,0,0,0,0,0,0,0]
+goal: [3,0,0,3.14,0,0,0,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 8
+states:
+ - [0,0,0,0,0,0,0,0]
+ - [0.599228,1.51308,0.00375144,-0.108714,0,0,0,0]
+ - [0.904574,1.66377,-2.1011,-1.30858,0,0,0,0]
+ - [3.2386,2.28633,-2.08948,-0.748266,0,0,0,0]
+ - [3.48063,0.769382,-1.07332,-0.879901,0,0,0,0]
+ - [3.39289,0.688956,-1.49973,-2.316,0,0,0,0]
+ - [2.92288,0.459875,-1.67201,-2.50642,0,0,0,0]
+ - [3,0,0,3.14,0,0,0,0]
+num_actions: 7
+actions:
+ - [1,1]
+ - [1,1]
+ - [1,1]
+ - [1,1]
+ - [1,1]
+ - [1,1]
+ - [1,1]
+num_times: 8
+times:
+ - 0
+ - 0.542472
+ - 0.963442
+ - 1.76865
+ - 2.2807
+ - 2.56792
+ - 2.7422
+ - 3.07661
diff --git a/envs/quad2dpole_v0/window_hard.yaml b/envs/quad2dpole_v0/window_hard.yaml
new file mode 100644
index 0000000..e31aeaa
--- /dev/null
+++ b/envs/quad2dpole_v0/window_hard.yaml
@@ -0,0 +1,32 @@
+name: quad2dpole_v0-window_hard
+environment:
+ #original
+ min: [-1, 0]
+ max: [5, 3.5]
+ #viewer
+ min: [-1, -1]
+ max: [6, 3.5]
+ obstacles:
+ # - type: box
+ # center: [2, 0]
+ # size: [.4,4]
+ #
+ # - type: box
+ # center: [2, 4]
+ # size: [.4,2]
+ #
+
+ - type: box
+ center: [2, -0.5]
+ size: [.4, 4.5]
+
+ - type: box
+ center: [2, 4]
+ size: [.4, 2.5]
+
+robots:
+ - type: quad2dpole_v0
+ # start: [0,0,0.0,.1,0,0,0,0]
+ start: [0, 1, 0, 0., 0, 0, 0, 0]
+ # goal: [0,0,0,0,0,0,0,0]
+ goal: [4, 1, 0, 3.14, 0, 0, 0, 0]
diff --git a/envs/quad2dpole_v0/window_hard/idbastar_v0_db_solution_v0.yaml b/envs/quad2dpole_v0/window_hard/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..a44649d
--- /dev/null
+++ b/envs/quad2dpole_v0/window_hard/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,918 @@
+time_stamp: 11428.4
+cost: 4.48
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,1,0,0,0,0,0,0]
+goal: [4,1,0,3.14,0,0,0,0]
+max_jump: 0.399629
+max_collision: 0
+goal_distance: 0.783683
+start_distance: 0.307681
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 449
+states:
+ - [1.93294e-08,1,0.0361349,0.16093,-3.59707e-08,3.85485e-08,0.303666,0.742075]
+ - [1.89697e-08,1,0.0391715,0.168351,-0.00223234,0.0201097,0.37178,0.653006]
+ - [-2.23044e-05,1.0002,0.0428893,0.174881,-0.00461264,0.0345779,0.436633,0.567289]
+ - [-6.84307e-05,1.00055,0.0472557,0.180554,-0.00720273,0.0435855,0.498334,0.484976]
+ - [-0.000140458,1.00098,0.052239,0.185403,-0.0100496,0.0473135,0.556991,0.406095]
+ - [-0.000240954,1.00146,0.0578089,0.189464,-0.013187,0.0459438,0.612713,0.33065]
+ - [-0.000372824,1.00192,0.063936,0.192771,-0.0166375,0.0396589,0.66561,0.258627]
+ - [-0.000539198,1.00231,0.0705921,0.195357,-0.0204134,0.0286403,0.715789,0.18999]
+ - [-0.000743332,1.0026,0.07775,0.197257,-0.0245187,0.0130689,0.763359,0.124691]
+ - [-0.000988519,1.00273,0.0853836,0.198504,-0.0289503,-0.0068755,0.808427,0.0626639]
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diff --git a/envs/quad2dpole_v0/window_hard/idbastar_v0_opt_solution_v0.yaml b/envs/quad2dpole_v0/window_hard/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..2ae6493
--- /dev/null
+++ b/envs/quad2dpole_v0/window_hard/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,925 @@
+time_stamp: 12636.5
+cost: 4.51
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,1,0,0,0,0,0,0]
+goal: [4,1,0,3.14,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.0051741
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 452
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+info: "ddp_iterations=9;ddp_time=37.318821"
diff --git a/envs/quad2dpole_v0/window_hard/idbastar_v0_solution_v0.yaml b/envs/quad2dpole_v0/window_hard/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..c8c9c04
--- /dev/null
+++ b/envs/quad2dpole_v0/window_hard/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,919 @@
+time_stamp: 15802.1
+cost: 4.48
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+ - [1.36992,1.18396]
+ - [1.38229,1.1715]
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+ - [1.61551,1.0032]
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+ - [1.67564,0.991557]
+ - [1.68553,0.99253]
+ - [1.69443,0.994732]
+ - [1.70221,0.998218]
+ - [1.70873,1.00304]
+ - [1.71382,1.00926]
+ - [1.71732,1.01693]
+ - [1.71905,1.02611]
+ - [1.71883,1.03686]
+ - [1.71646,1.04923]
+ - [1.71173,1.06329]
+ - [1.70441,1.0791]
+ - [1.69429,1.09673]
+ - [1.68113,1.11624]
+ - [1.66467,1.13771]
+ - [1.64467,1.16123]
+ - [1.62087,1.18687]
+ - [1.59301,1.21473]
+ - [1.56083,1.24493]
+ - [1.52408,1.27757]
+ - [1.48248,1.31279]
+ - [1.43582,1.35075]
+ - [1.38385,1.39162]
+ - [1.32636,1.43561]
+ - [1.26318,1.48295]
+ - [1.19415,1.53392]
+ - [1.11915,1.58885]
+ - [1.03812,1.6481]
+ - [0.951047,1.71213]
+ - [0.857988,1.78145]
+ - [0.759072,1.85667]
+ - [0.654514,1.93851]
+ - [0.544628,2.02779]
+ - [0.429832,2.12549]
+ - [0.310668,2.23276]
+ - [0.187808,2.35094]
+info: "ddp_iterations=9;ddp_time=35.379007"
diff --git a/envs/quad2dpole_v0/window_hard/rrt_to_v0_guess_v0.yaml b/envs/quad2dpole_v0/window_hard/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..8776a01
--- /dev/null
+++ b/envs/quad2dpole_v0/window_hard/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,49 @@
+time_stamp: 21
+cost: 3.02145
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [0,1,0,0,0,0,0,0]
+goal: [4,1,0,3.14,0,0,0,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 9
+states:
+ - [0,1,0,0,0,0,0,0]
+ - [1.03099,2.18734,-0.121893,-0.856461,0,0,0,0]
+ - [1.6501,1.87302,-2.11542,0.225889,0,0,0,0]
+ - [1.95551,2.41691,-2.38301,1.3947,0,0,0,0]
+ - [4.00357,2.20291,-2.94373,0.405579,0,0,0,0]
+ - [4.59701,2.45626,2.55351,1.61998,0,0,0,0]
+ - [4.52337,2.44942,0.444201,2.75481,0,0,0,0]
+ - [4.01872,1.05184,0.0158878,3.12622,0,0,0,0]
+ - [4,1,0,3.14,0,0,0,0]
+num_actions: 8
+actions:
+ - [1,1]
+ - [1,1]
+ - [1,1]
+ - [1,1]
+ - [1,1]
+ - [1,1]
+ - [1,1]
+ - [1,1]
+num_times: 9
+times:
+ - 0
+ - 0.524161
+ - 0.922866
+ - 1.15663
+ - 1.84303
+ - 2.08591
+ - 2.50777
+ - 3.00308
+ - 3.02145
diff --git a/envs/quadrotor_v0/empty_0_easy/idbastar_v0_db_solution_v0.yaml b/envs/quadrotor_v0/empty_0_easy/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..8bd540a
--- /dev/null
+++ b/envs/quadrotor_v0/empty_0_easy/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,22 @@
+time_stamp: -0.015768
+cost: 0
+feasible: 0
+traj_feas: 1
+goal_feas: 0
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,1,0,0,0,1,0,0,0,0,0,0]
+goal: [0,0,2,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 1
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 1
+states:
+ - [0,0,1,0,0,0,1,0,0,0,0,0,0]
+num_actions: 0
+actions:
diff --git a/envs/quadrotor_v0/empty_0_easy/idbastar_v0_opt_solution_v0.yaml b/envs/quadrotor_v0/empty_0_easy/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..9f504be
--- /dev/null
+++ b/envs/quadrotor_v0/empty_0_easy/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,317 @@
+time_stamp: 217.701
+cost: 1.47
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,1,0,0,0,1,0,0,0,0,0,0]
+goal: [0,0,2,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.000468337
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 148
+states:
+ - [0,0,1,0,0,0,1,0,0,0,0,0,0]
+ - [0,0,1,0,0,0,1,0,0,0.0277195,-0.000182128,-0.0019174,0.000882332]
+ - [0,0,1.00028,-9.10642e-07,-9.58702e-06,4.41166e-06,1,0,0,0.0550885,-0.000358816,-0.00361806,0.00194394]
+ - [0,0,1.00083,-2.70474e-06,-2.76773e-05,1.41314e-05,1,-2.39903e-06,2.27866e-07,0.082107,-0.00053029,-0.0051084,0.00318471]
+ - [-2.39903e-08,2.27866e-09,1.00165,-5.35626e-06,-5.32193e-05,3.00549e-05,1,-9.30553e-06,9.02697e-07,0.108775,-0.00069573,-0.00639555,0.00460451]
+ - [-1.17046e-07,1.13056e-08,1.00274,-8.83518e-06,-8.51971e-05,5.30774e-05,1,-2.25484e-05,2.23513e-06,0.135093,-0.000852906,-0.00748787,0.00620317]
+ - [-3.4253e-07,3.36569e-08,1.00409,-1.31004e-05,-0.000122636,8.40933e-05,1,-4.36888e-05,4.42631e-06,0.16106,-0.000997863,-0.00839531,0.00798056]
+ - [-7.79418e-07,7.792e-08,1.0057,-1.8091e-05,-0.000164613,0.000123996,1,-7.40334e-05,7.66523e-06,0.186676,-0.00112465,-0.00912984,0.00993649]
+ - [-1.51975e-06,1.54572e-07,1.00757,-2.37168e-05,-0.000210262,0.000173678,1,-0.000114467,1.21038e-05,0.211388,0.000491326,-0.0114311,0.00860202]
+ - [-2.66442e-06,2.7561e-07,1.00968,-2.12593e-05,-0.000267416,0.00021669,1,-0.000165955,1.79024e-05,0.235724,0.00218395,-0.0136325,0.00728455]
+ - [-4.32397e-06,4.54635e-07,1.01204,-1.03345e-05,-0.000335575,0.000253117,1,-0.000231237,2.30781e-05,0.259684,0.00396041,-0.0157482,0.00598401]
+ - [-6.63634e-06,6.85416e-07,1.01463,9.47742e-06,-0.000414311,0.000283045,1,-0.00031333,2.55855e-05,0.283899,0.00398648,-0.015942,0.00865354]
+ - [-9.76965e-06,9.4127e-07,1.01747,2.94144e-05,-0.000494015,0.00032632,1,-0.000414392,2.3245e-05,0.307764,0.00406933,-0.016035,0.0115013]
+ - [-1.39136e-05,1.17372e-06,1.02055,4.97588e-05,-0.000574185,0.000383834,1,-0.000533875,1.60917e-05,0.330597,0.00609577,-0.0179314,0.0102576]
+ - [-1.92523e-05,1.33464e-06,1.02386,8.02426e-05,-0.000663833,0.000435135,1,-0.000673092,3.9734e-06,0.35373,0.0043215,-0.0158668,0.0132654]
+ - [-2.59832e-05,1.37437e-06,1.02739,0.000101841,-0.000743163,0.00050147,1,-0.000833573,-1.54961e-05,0.376511,0.00245832,-0.0135741,0.0164369]
+ - [-3.4319e-05,1.21941e-06,1.03116,0.000114105,-0.000811035,0.000583657,0.999999,-0.00101271,-4.01354e-05,0.39894,0.000479368,-0.0110333,0.0197702]
+ - [-4.4446e-05,8.18057e-07,1.03515,0.000116454,-0.000866212,0.000682503,0.999999,-0.00120762,-6.76746e-05,0.421016,-0.00164406,-0.00822289,0.0232635]
+ - [-5.65223e-05,1.41312e-07,1.03936,0.000108161,-0.000907345,0.000798809,0.999999,-0.00141385,-9.55434e-05,0.441967,0.000458012,-0.0095503,0.0220884]
+ - [-7.06608e-05,-8.14123e-07,1.04378,0.000110389,-0.000955107,0.000909247,0.999999,-0.00162919,-0.000121388,0.462543,0.00249115,-0.0107101,0.0209278]
+ - [-8.69527e-05,-2.028e-06,1.0484,0.000122794,-0.00100866,0.00101389,0.999999,-0.00185515,-0.000147711,0.482743,0.00443282,-0.0116892,0.0197818]
+ - [-0.000105504,-3.50511e-06,1.05323,0.000144917,-0.00106709,0.00111282,0.999999,-0.0020947,-0.000177121,0.503407,0.00147519,-0.00765731,0.0239011]
+ - [-0.000126451,-5.27632e-06,1.05826,0.000152208,-0.00110539,0.00123232,0.999999,-0.00234737,-0.000211721,0.523717,-0.00174664,-0.00327778,0.0281735]
+ - [-0.000149925,-7.39354e-06,1.0635,0.000143339,-0.00112181,0.00137318,0.999998,-0.00260832,-0.000247981,0.543673,-0.00525698,0.00146659,0.0325976]
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+ - [0.737834,0.739288,0.737521,0.739667]
+ - [0.733971,0.735416,0.733614,0.735852]
+ - [0.730108,0.731542,0.729706,0.732036]
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+ - [0.722383,0.723793,0.721891,0.724401]
+ - [0.718521,0.719918,0.717984,0.720582]
+info: "ddp_iterations=37;ddp_time=37.114699"
diff --git a/envs/quadrotor_v0/empty_0_easy/idbastar_v0_solution_v0.yaml b/envs/quadrotor_v0/empty_0_easy/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..1760c99
--- /dev/null
+++ b/envs/quadrotor_v0/empty_0_easy/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,285 @@
+time_stamp: 1524.09
+cost: 1.31
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,1,0,0,0,1,0,0,0,0,0,0]
+goal: [0,0,2,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.0027563
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 1.85553e-05
+num_states: 132
+states:
+ - [0,0,1,0,0,0,1,0,0,0,0,0,0]
+ - [0,0,1,0,0,0,1,0,0,0.0124646,-7.24622e-09,7.30251e-09,-0.118288]
+ - [0,0,1.00012,-3.62311e-11,3.65126e-11,-0.000591441,1,0,0,0.025019,-1.26211e-08,1.27488e-08,-0.23595]
+ - [0,0,1.00037,-9.93419e-11,1.00251e-10,-0.00177119,0.999998,8.09182e-12,8.01995e-12,0.0376627,-1.61508e-08,1.63847e-08,-0.352988]
+ - [8.09182e-14,8.01995e-14,1.00075,-1.80127e-10,1.82142e-10,-0.00353612,0.999994,3.0353e-11,3.00012e-11,0.0503955,-1.79031e-08,1.82874e-08,-0.469404]
+ - [3.84448e-13,3.80212e-13,1.00126,-2.69746e-10,2.73471e-10,-0.00588311,0.999983,7.0901e-11,6.98181e-11,0.063217,-1.80042e-08,1.85828e-08,-0.5852]
+ - [1.09346e-12,1.07839e-12,1.00189,-3.60017e-10,3.66123e-10,-0.00880903,0.999961,1.31968e-10,1.29349e-10,0.0761268,-1.6643e-08,1.74513e-08,-0.700379]
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+ - [7.71263e-12,7.51863e-12,1.00456,-5.69225e-10,5.85282e-10,-0.0210287,0.999779,4.35184e-10,4.18717e-10,0.115384,-6.4337e-09,7.96343e-09,-1.04224]
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+ - [2.4851e-11,2.38688e-11,1.00842,-6.08766e-10,6.30809e-10,-0.0383423,0.999265,8.57152e-10,8.0652e-10,0.155425,6.58091e-09,-4.73968e-09,-1.37861]
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+num_actions: 131
+actions:
+ - [1.30002,0.954102,1.30002,0.954102]
+ - [1.30002,0.955933,1.30002,0.955933]
+ - [1.30002,0.957756,1.30002,0.957756]
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+ - [1.30001,0.964984,1.30001,0.964984]
+ - [1.30001,0.966775,1.30001,0.966775]
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+ - [1.3,0.972111,1.3,0.972111]
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+ - [1.3,0.97564,1.3,0.97564]
+ - [1.3,0.977398,1.3,0.977398]
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+ - [0.0689918,0.892986,0.0689918,0.892986]
+ - [0.0147384,0.893465,0.0147384,0.893465]
+ - [9.89525e-05,0.896111,9.89525e-05,0.896111]
+ - [9.7518e-05,0.899576,9.7518e-05,0.899576]
+ - [9.60828e-05,0.903067,9.60828e-05,0.903067]
+ - [9.4647e-05,0.906583,9.4647e-05,0.906583]
+ - [9.32105e-05,0.910123,9.32105e-05,0.910123]
+ - [9.17734e-05,0.913689,9.17734e-05,0.913689]
+ - [9.03356e-05,0.917278,9.03356e-05,0.917278]
+ - [8.88973e-05,0.92089,8.88973e-05,0.92089]
+ - [8.74583e-05,0.924526,8.74583e-05,0.924526]
+ - [8.60188e-05,0.928185,8.60188e-05,0.928185]
+ - [8.45787e-05,0.931866,8.45787e-05,0.931866]
+ - [8.31379e-05,0.93557,8.31379e-05,0.93557]
+ - [8.16966e-05,0.939296,8.16966e-05,0.939296]
+ - [8.02548e-05,0.943044,8.02548e-05,0.943044]
+ - [7.88123e-05,0.946814,7.88123e-05,0.946814]
+ - [7.73693e-05,0.950607,7.73693e-05,0.950607]
+ - [7.59257e-05,0.954421,7.59257e-05,0.954421]
+info: "ddp_iterations=86;ddp_time=79.206889"
diff --git a/envs/quadrotor_v0/empty_0_easy/rrt_to_v0_guess_v0.yaml b/envs/quadrotor_v0/empty_0_easy/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..b4b6967
--- /dev/null
+++ b/envs/quadrotor_v0/empty_0_easy/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,28 @@
+time_stamp: 1
+cost: 0.25
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [0,0,1,0,0,0,1,0,0,0,0,0,0]
+goal: [0,0,2,0,0,0,1,0,0,0,0,0,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 2
+states:
+ - [0,0,1,0,0,0,1,0,0,0,0,0,0]
+ - [0,0,2,0,0,0,1,0,0,0,0,0,0]
+num_actions: 1
+actions:
+ - [1,1,1,1]
+num_times: 2
+times:
+ - 0
+ - 0.25
diff --git a/envs/quadrotor_v0/empty_0_easy/rrt_to_v0_solution_v0.yaml b/envs/quadrotor_v0/empty_0_easy/rrt_to_v0_solution_v0.yaml
new file mode 100644
index 0000000..a550440
--- /dev/null
+++ b/envs/quadrotor_v0/empty_0_easy/rrt_to_v0_solution_v0.yaml
@@ -0,0 +1,217 @@
+time_stamp: 1.96813e-316
+cost: 0.97
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,1,0,0,0,1,0,0,0,0,0,0]
+goal: [0,0,2,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.0037077
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 5.62153e-05
+num_states: 98
+states:
+ - [0,0,1,0,0,0,1,0,0,0,0,0,0]
+ - [0,0,1,0,0,0,1,0,0,0.0294252,-1.44377e-09,-1.93932e-12,-1.15753e-11]
+ - [0,0,1.00029,-7.21885e-12,-9.6966e-15,-5.78767e-14,1,0,0,0.0588503,-2.70914e-09,-4.63948e-11,-2.30328e-11]
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diff --git a/envs/quadrotor_v0/empty_1_easy/idbastar_v0_db_solution_v0.yaml b/envs/quadrotor_v0/empty_1_easy/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..483b697
--- /dev/null
+++ b/envs/quadrotor_v0/empty_1_easy/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,22 @@
+time_stamp: 0.859704
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+goal_distance: 1.22474
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 1
+states:
+ - [0,0,1,0,0,0,1,0,0,0,0,0,0]
+num_actions: 0
+actions:
diff --git a/envs/quadrotor_v0/empty_1_easy/idbastar_v0_opt_solution_v0.yaml b/envs/quadrotor_v0/empty_1_easy/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..e399aa8
--- /dev/null
+++ b/envs/quadrotor_v0/empty_1_easy/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,479 @@
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+ - [1.02638,0.885807,1.03236,0.885954]
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+ - [1.03953,0.853297,1.04426,0.856895]
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+ - [1.07279,0.769814,1.06917,0.770835]
+ - [1.07377,0.767387,1.06995,0.767584]
+ - [1.07473,0.765004,1.07075,0.7643]
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+ - [1.08248,0.745181,1.07875,0.733487]
+ - [1.08321,0.743055,1.07976,0.73]
+ - [1.08393,0.740906,1.0808,0.72653]
+ - [1.08462,0.738717,1.08186,0.723089]
+ - [1.08528,0.736469,1.08294,0.719693]
+ - [1.08591,0.734141,1.08404,0.716356]
+ - [1.08652,0.731706,1.08514,0.713098]
+ - [1.0871,0.729137,1.08625,0.709938]
+ - [1.08765,0.726402,1.08736,0.706899]
+ - [1.08817,0.723467,1.08846,0.704004]
+ - [1.08867,0.720292,1.08953,0.70128]
+ - [1.08914,0.716838,1.09056,0.698754]
+ - [1.08958,0.71306,1.09155,0.696459]
+ - [1.08999,0.708913,1.09249,0.694427]
+ - [1.09037,0.704348,1.09335,0.692694]
+ - [1.09072,0.699319,1.09415,0.6913]
+ - [1.09105,0.693777,1.09486,0.690287]
+ - [1.09135,0.687678,1.0955,0.689701]
+ - [1.09164,0.680978,1.09605,0.689593]
+ - [1.09191,0.673642,1.09655,0.690017]
+ - [1.09219,0.665639,1.097,0.691033]
+ - [1.09249,0.656947,1.09743,0.692702]
+ - [1.09281,0.647557,1.09789,0.695091]
+ - [1.09319,0.63747,1.09842,0.698269]
+ - [1.09365,0.626701,1.09909,0.702304]
+info: "ddp_iterations=41;ddp_time=66.367626"
diff --git a/envs/quadrotor_v0/empty_1_easy/idbastar_v0_solution_v0.yaml b/envs/quadrotor_v0/empty_1_easy/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..2383da2
--- /dev/null
+++ b/envs/quadrotor_v0/empty_1_easy/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,293 @@
+time_stamp: 1112.49
+cost: 1.35
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,1,0,0,0,1,0,0,0,0,0,0]
+goal: [0.5,0.5,2,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00244105
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 8.81159e-05
+num_states: 136
+states:
+ - [0,0,1,0,0,0,1,0,0,0,0,0,0]
+ - [0,0,1,0,0,0,1,0,0,0.00685101,-0.356594,0.423765,0.0757261]
+ - [0,0,1.00007,-0.00178297,0.00211882,0.00037863,0.999996,0,0,0.0176283,-0.474854,0.602242,0.174736]
+ - [0,0,1.00024,-0.0041565,0.00513065,0.00125196,0.999977,0.000472419,0.000397842,0.0310443,-0.44864,0.62902,0.286367]
+ - [4.72419e-06,3.97842e-06,1.00056,-0.0063962,0.00827877,0.00268219,0.999942,0.00161918,0.00132925,0.0448062,-0.42591,0.652416,0.39553]
+ - [2.0916e-05,1.72709e-05,1.001,-0.00851793,0.0115475,0.00465646,0.999886,0.00347307,0.00276953,0.0588874,-0.406738,0.672434,0.502364]
+ - [5.56467e-05,4.49662e-05,1.00159,-0.0105379,0.0149211,0.00716277,0.999807,0.00606247,0.00469826,0.0732597,-0.391112,0.689143,0.607015]
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+ - [0.0580937,0.0400846,1.10567,-0.0383723,0.0884347,0.340195,0.9354,0.437086,0.321942,0.568532,-0.315888,-0.0957554,3.53243]
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+ - [1.04937,1.29994,1.03742,1.29996]
+ - [1.04896,1.29994,1.03692,1.29995]
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+ - [1.04461,1.29995,1.03366,1.29993]
+ - [1.04359,1.29995,1.0331,1.29992]
+ - [1.04251,1.29995,1.03255,1.29992]
+ - [1.04138,1.29995,1.03203,1.29992]
+ - [1.04021,1.29996,1.03152,1.29991]
+ - [1.03902,1.29996,1.03105,1.29991]
+ - [1.03783,1.29996,1.03061,1.29991]
+ - [1.03666,1.29996,1.03022,1.29991]
+ - [1.03553,1.29996,1.02988,1.2999]
+ - [1.03447,1.29996,1.02958,1.2999]
+ - [1.03349,1.29996,1.02934,1.2999]
+ - [1.03245,1.29995,1.02914,1.29629]
+ - [1.03121,1.29995,1.02912,1.28874]
+ - [1.02988,1.29995,1.02947,1.2824]
+ - [1.02848,1.29995,1.03014,1.27718]
+ - [1.02702,1.29995,1.03109,1.27298]
+ - [1.02554,1.29994,1.03231,1.2697]
+ - [1.02404,1.29994,1.03376,1.26726]
+ - [1.02256,1.29994,1.03542,1.26555]
+ - [1.0211,1.29994,1.0373,1.26451]
+ - [1.01968,1.29994,1.03937,1.26405]
+ - [1.01831,1.29993,1.04163,1.26411]
+ - [1.017,1.29993,1.04407,1.26463]
+ - [1.01575,1.29993,1.04668,1.26555]
+ - [1.01458,1.29993,1.04945,1.26683]
+ - [1.0135,1.29993,1.05238,1.26843]
+ - [1.0125,1.29992,1.05543,1.2703]
+ - [1.01161,1.29992,1.05861,1.27241]
+ - [1.01081,1.29992,1.06189,1.27472]
+ - [1.01013,1.29992,1.06525,1.27721]
+ - [1.00957,1.29991,1.06866,1.27983]
+ - [1.00914,1.29991,1.07211,1.28254]
+ - [1.00884,1.29991,1.07555,1.28532]
+ - [1.00868,1.29991,1.07898,1.2881]
+ - [1.00868,1.29991,1.08236,1.29084]
+ - [1.00883,1.2999,1.08568,1.29349]
+ - [1.00916,1.2999,1.08891,1.29597]
+ - [1.00914,1.28841,1.09144,1.28866]
+ - [1.00796,1.24399,1.092,1.25362]
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+ - [1.00754,1.15619,1.09177,1.18317]
+ - [1.00832,1.11289,1.091,1.14767]
+ - [1.00978,1.07007,1.08983,1.11195]
+ - [1.01192,1.02778,1.08828,1.07596]
+ - [0.99586,1.00498,1.06751,1.05859]
+ - [0.979613,0.983661,1.04562,1.04181]
+ - [0.964018,0.963051,1.02354,1.02478]
+ - [0.94907,0.943214,1.00133,1.00748]
+ - [0.934762,0.924221,0.979075,0.989937]
+ - [0.921085,0.906128,0.956883,0.972146]
+ - [0.916617,0.880396,0.943454,0.945526]
+ - [0.924221,0.844212,0.941772,0.907198]
+ - [0.93246,0.809047,0.940524,0.868572]
+ - [0.941288,0.774908,0.939827,0.829679]
+ - [0.950644,0.741782,0.939785,0.790552]
+ - [0.960453,0.709625,0.94049,0.751231]
+ - [0.970624,0.678365,0.942016,0.711756]
+ - [0.981048,0.647897,0.94441,0.672169]
+ - [0.991598,0.618084,0.947695,0.632508]
+ - [1.00213,0.58875,0.951859,0.592809]
+ - [1.01248,0.559688,0.95686,0.5531]
+ - [1.02248,0.530657,0.962618,0.513404]
+ - [1.03192,0.501382,0.969019,0.473732]
+ - [1.04062,0.471564,0.975914,0.434088]
+ - [1.04836,0.440879,0.983127,0.394465]
+ - [1.05493,0.408988,0.990452,0.354849]
+ - [1.06012,0.375545,0.997667,0.315215]
+ - [1.06374,0.3402,1.00454,0.275537]
+ - [1.06559,0.30262,1.01082,0.235783]
+ - [1.06553,0.262491,1.0163,0.195926]
+ - [1.06342,0.219538,1.02077,0.155944]
+ - [1.05918,0.173533,1.02407,0.115826]
+ - [1.05276,0.124315,1.02607,0.0755824]
+ - [1.04419,0.0718,1.02672,0.0352497]
+ - [1.0338,0.0203391,1.02629,9.97519e-05]
+ - [1.02336,9.91821e-05,1.02649,9.85033e-05]
+ - [1.01164,9.49347e-05,1.02677,0.00262997]
+ - [0.998597,9.17889e-05,1.02714,0.017651]
+ - [0.984245,8.8501e-05,1.02738,0.0358492]
+ - [0.968889,8.50821e-05,1.02775,0.057354]
+ - [0.952879,8.15463e-05,1.02854,0.0823068]
+ - [0.936605,7.79108e-05,1.03011,0.110868]
+ - [0.9205,7.41959e-05,1.03286,0.143225]
+ - [0.905044,7.04247e-05,1.03725,0.1796]
+ - [0.890757,6.66231e-05,1.04377,0.220264]
+ - [0.87821,6.28201e-05,1.05296,0.265541]
+info: "ddp_iterations=63;ddp_time=61.136229"
diff --git a/envs/quadrotor_v0/empty_1_easy/rrt_to_v0_guess_v0.yaml b/envs/quadrotor_v0/empty_1_easy/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..79adfc4
--- /dev/null
+++ b/envs/quadrotor_v0/empty_1_easy/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,28 @@
+time_stamp: 2
+cost: 0.306186
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [0,0,1,0,0,0,1,0,0,0,0,0,0]
+goal: [0.5,0.5,2,0,0,0,1,0,0,0,0,0,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 2
+states:
+ - [0,0,1,0,0,0,1,0,0,0,0,0,0]
+ - [0.5,0.5,2,0,0,0,1,0,0,0,0,0,0]
+num_actions: 1
+actions:
+ - [1,1,1,1]
+num_times: 2
+times:
+ - 0
+ - 0.306186
diff --git a/envs/quadrotor_v0/empty_1_easy/rrt_to_v0_solution_v0.yaml b/envs/quadrotor_v0/empty_1_easy/rrt_to_v0_solution_v0.yaml
new file mode 100644
index 0000000..e4d454e
--- /dev/null
+++ b/envs/quadrotor_v0/empty_1_easy/rrt_to_v0_solution_v0.yaml
@@ -0,0 +1,263 @@
+time_stamp: 1.40029e-316
+cost: 1.2
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,1,0,0,0,1,0,0,0,0,0,0]
+goal: [0.5,0.5,2,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00151491
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 121
+states:
+ - [0,0,1,0,0,0,1,0,0,0,0,0,0]
+ - [0,0,1,0,0,0,1,0,0,0.0218365,-0.50624,0.493258,-0.0517845]
+ - [0,0,1.00022,-0.00253119,0.00246629,-0.000258922,0.999994,0,0,0.0457908,-0.870937,0.849301,-0.0891347]
+ - [0,0,1.00068,-0.00688577,0.00671269,-0.000704594,0.999954,0.00061152,0.000627289,0.0716315,-1.10915,1.08531,-0.113828]
+ - [6.1152e-06,6.27289e-06,1.00139,-0.012431,0.0121387,-0.00127382,0.999848,0.00229854,0.00235537,0.0990824,-1.2382,1.21556,-0.127365]
+ - [2.91006e-05,2.98266e-05,1.00238,-0.0186205,0.0182151,-0.00191089,0.999659,0.00538438,0.00550746,0.127866,-1.27448,1.254,-0.131228]
+ - [8.29444e-05,8.49012e-05,1.00366,-0.0249899,0.0244821,-0.0025674,0.999385,0.0100375,0.010246,0.157114,-1.27326,1.25527,-0.131181]
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diff --git a/envs/quadrotor_v0/motions/quad3d_v0_all3.bin.im.bin.sp1.bin.ca.bin.small.msgpack b/envs/quadrotor_v0/motions/quad3d_v0_all3.bin.im.bin.sp1.bin.ca.bin.small.msgpack
new file mode 100644
index 0000000..a91bd9c
Binary files /dev/null and b/envs/quadrotor_v0/motions/quad3d_v0_all3.bin.im.bin.sp1.bin.ca.bin.small.msgpack differ
diff --git a/envs/quadrotor_v0/quad_one_obs/idbastar_v0_db_solution_v0.yaml b/envs/quadrotor_v0/quad_one_obs/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..0b18b00
--- /dev/null
+++ b/envs/quadrotor_v0/quad_one_obs/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,1660 @@
+time_stamp: 331.163
+cost: 8.19
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [1,1,3,0,0,0,1,0,0,0,0,0,0]
+goal: [5,5,3,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0.34347
+max_collision: 0
+goal_distance: 0.684416
+start_distance: 0.323786
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 820
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+ - [1.3,1.3,0.595445,1.3]
+ - [1.3,1.3,1.24336,1.3]
+ - [1.3,1.3,1.27206,1.29407]
+ - [1.3,1.3,1.09478,1.25505]
+ - [1.3,1.3,1.12518,1.27065]
+ - [1.3,1.3,1.21836,1.26502]
+ - [1.3,1.3,1.27411,0.923196]
+ - [1.3,1.3,1.12825,1.19391]
+ - [1.3,1.3,0.989449,1.25144]
+ - [1.3,1.3,0.932358,1.27536]
+ - [1.3,1.3,1.25391,1.28329]
+ - [1.3,1.3,1.3,1.3]
+ - [1.3,1.3,1.29035,1.3]
+ - [1.3,1.3,1.26932,1.3]
+ - [1.3,1.3,1.25458,1.3]
+ - [1.3,1.27735,1.24472,1.3]
+ - [1.3,1.24834,1.23857,1.3]
+ - [1.3,1.22813,1.23542,1.3]
+ - [1.3,1.21515,1.23472,1.3]
+ - [1.3,1.20803,1.236,1.3]
+ - [1.3,1.20558,1.23887,1.3]
+ - [1.3,1.20679,1.243,1.3]
+ - [1.3,1.2108,1.24811,1.3]
+ - [1.3,1.21688,1.25398,1.3]
+ - [1.3,1.22442,1.2604,1.3]
+ - [1.3,1.23294,1.26723,1.3]
+ - [1.3,1.24206,1.27434,1.3]
+ - [1.3,1.25146,1.28162,1.3]
+ - [1.3,1.26092,1.28902,1.3]
+ - [1.3,1.27028,1.29647,1.3]
+ - [1.3,1.27945,1.3,1.3]
+ - [1.3,1.28843,1.3,1.3]
+ - [1.3,1.29728,1.3,1.3]
+ - [1.3,1.3,1.3,1.3]
+ - [1.3,1.3,1.3,1.3]
+ - [1.3,1.3,1.3,1.3]
+ - [1.3,1.3,1.3,1.3]
+ - [1.3,1.3,1.3,1.3]
+ - [1.3,1.3,1.3,1.3]
+ - [1.3,1.3,1.3,1.3]
+ - [1.3,1.3,1.3,1.3]
+ - [1.3,1.3,1.3,1.3]
diff --git a/envs/quadrotor_v0/quad_one_obs/idbastar_v0_opt_solution_v0.yaml b/envs/quadrotor_v0/quad_one_obs/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..23d93e2
--- /dev/null
+++ b/envs/quadrotor_v0/quad_one_obs/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,1337 @@
+time_stamp: 2360.94
+cost: 6.57
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [1,1,3,0,0,0,1,0,0,0,0,0,0]
+goal: [5,5,3,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.000188391
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 658
+states:
+ - [1,1,3,0,0,0,1,0,0,0,0,0,0]
+ - [1,1,3,0,0,0,1,0,0,-0.0103634,0.0195746,0.163215,0.000388773]
+ - [1,1,2.9999,9.7873e-05,0.000816077,1.94386e-06,1,0,0,-0.0206543,0.034812,0.295335,0.000797577]
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+ - [0.910829,0.907787,0.899356,0.899708]
+ - [0.909091,0.90621,0.899192,0.899431]
+ - [0.907054,0.904394,0.899238,0.89931]
+ - [0.904682,0.902309,0.899524,0.899367]
+ - [0.901941,0.899932,0.900083,0.899624]
+ - [0.898798,0.897237,0.900949,0.90011]
+ - [0.895224,0.894204,0.902162,0.900854]
+ - [0.891193,0.890816,0.903764,0.901889]
+ - [0.886684,0.887062,0.9058,0.903252]
+ - [0.881685,0.882938,0.908319,0.904983]
+ - [0.876191,0.878449,0.911375,0.907126]
+ - [0.870207,0.873605,0.91502,0.909726]
+ - [0.863747,0.86843,0.919309,0.912832]
+info: "ddp_iterations=99;ddp_time=1134.504304"
diff --git a/envs/quadrotor_v0/quad_one_obs/idbastar_v0_solution_v0.yaml b/envs/quadrotor_v0/quad_one_obs/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..dba5372
--- /dev/null
+++ b/envs/quadrotor_v0/quad_one_obs/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,621 @@
+time_stamp: 5415.76
+cost: 2.99
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [1,1,3,0,0,0,1,0,0,0,0,0,0]
+goal: [5,5,3,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00118367
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 300
+states:
+ - [1,1,3,0,0,0,1,0,0,0,0,0,0]
+ - [1,1,3,0,0,0,1,0,0,-0.0548487,0.0593585,0.82784,-0.000502331]
+ - [1,1,2.99945,0.000296792,0.00413919,-2.51165e-06,0.999991,0,0,-0.108856,0.102654,1.52221,-0.000948984]
+ - [1,1,2.99836,0.000810043,0.01175,-7.12203e-06,0.999931,0.000375641,-2.69355e-05,-0.161581,0.131487,2.09247,-0.00135019]
+ - [1,1,2.99675,0.00146737,0.0222108,-1.31219e-05,0.999752,0.00148033,-0.000103101,-0.212682,0.14741,2.54808,-0.0017191]
+ - [1.00002,0.999999,2.99462,0.00220408,0.0349458,-1.93896e-05,0.999387,0.00365242,-0.00024663,-0.261922,0.151929,2.8985,-0.00207085]
+ - [1.00006,0.999996,2.992,0.00296292,0.0494253,-2.43391e-05,0.998773,0.00721373,-0.000471315,-0.309161,0.146502,3.15325,-0.00242163]
+ - [1.00013,0.999992,2.98891,0.00369391,0.0651654,-2.59197e-05,0.997868,0.0124627,-0.000786108,-0.354355,0.132531,3.32178,-0.002788]
+ - [1.00025,0.999984,2.98537,0.00435414,0.0817292,-2.16571e-05,0.996645,0.0196653,-0.00119457,-0.397546,0.111361,3.41341,-0.0031862]
+ - [1.00045,0.999972,2.98139,0.00490748,0.0987262,-8.72727e-06,0.995103,0.0290449,-0.00169448,-0.438841,0.0842658,3.43727,-0.00363162]
+ - [1.00074,0.999955,2.977,0.00532436,0.115813,1.59492e-05,0.993257,0.0407757,-0.00227769,-0.478405,0.0524421,3.40224,-0.0041384]
+ - [1.00115,0.999932,2.97222,0.00558135,0.132692,5.55987e-05,0.991142,0.0549766,-0.00293034,-0.516439,0.0170036,3.31679,-0.00471903]
+ - [1.0017,0.999903,2.96705,0.00566079,0.14911,0.000113482,0.988804,0.0717108,-0.00363328,-0.553163,-0.0210272,3.18902,-0.00538415]
+ - [1.00241,0.999866,2.96152,0.0055503,0.164857,0.000192783,0.986302,0.090987,-0.00436286,-0.588805,-0.0607225,3.02649,-0.00614241]
+ - [1.00332,0.999823,2.95563,0.00524224,0.179763,0.000296508,0.983696,0.112764,-0.00509177,-0.623584,-0.101252,2.83626,-0.00700037]
+ - [1.00445,0.999772,2.9494,0.00473322,0.193695,0.000427392,0.98105,0.136957,-0.00578999,-0.657702,-0.141884,2.62479,-0.00796251]
+ - [1.00582,0.999714,2.94282,0.00402354,0.206553,0.000587821,0.978427,0.163447,-0.00642577,-0.691335,-0.181983,2.39797,-0.00903134]
+ - [1.00746,0.99965,2.93591,0.00311661,0.218268,0.000779778,0.975883,0.192087,-0.00696644,-0.724627,-0.221007,2.16108,-0.0102074]
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+ - [1.0116,0.999506,2.92108,0.000737399,0.238127,0.00126391,0.971233,0.255141,-0.00763186,-0.790616,-0.294112,1.6752,-0.0128752]
+ - [1.01415,0.99943,2.91318,-0.000716781,0.246251,0.0015577,0.969204,0.289194,-0.007693,-0.823446,-0.327536,1.43383,-0.01436]
+ - [1.01705,0.999353,2.90494,-0.00233284,0.25319,0.0018862,0.967412,0.324686,-0.00753264,-0.856207,-0.358561,1.19769,-0.0159388]
+ - [1.02029,0.999278,2.89638,-0.00409864,0.258975,0.00224902,0.965873,0.361439,-0.00712234,-0.888901,-0.387034,0.96927,-0.0176052]
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+ - [1.0279,0.999142,2.87828,-0.00802799,0.267259,0.00307362,0.963586,0.438045,-0.00544657,-0.95399,-0.435993,0.543282,-0.0211724]
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+ - [0.804213,0.802179,0.736863,0.749573]
+ - [0.801252,0.798129,0.729354,0.74275]
+ - [0.797954,0.793729,0.721913,0.735959]
+ - [0.794169,0.788847,0.714522,0.729171]
+ - [0.789729,0.783332,0.707155,0.722341]
+ - [0.784439,0.777013,0.699778,0.71542]
+ - [0.778087,0.769702,0.692347,0.708343]
+ - [0.770444,0.761196,0.684814,0.701042]
+ - [0.761263,0.75128,0.677124,0.693442]
+ - [0.750294,0.739736,0.669223,0.685463]
+ - [0.737284,0.726343,0.66106,0.677034]
+ - [0.72199,0.710897,0.652597,0.668088]
+ - [0.704191,0.693213,0.643812,0.658582]
+ - [0.683702,0.673143,0.634714,0.648498]
+ - [0.660389,0.650589,0.625348,0.637859]
+ - [0.634181,0.625517,0.615811,0.626736]
+ - [0.605093,0.597973,0.606258,0.615266]
+ - [0.57323,0.568095,0.596919,0.603657]
+ - [0.538807,0.536123,0.588103,0.592198]
+ - [0.502151,0.502406,0.580204,0.581269]
+ - [0.463708,0.467407,0.57371,0.57134]
+ - [0.424033,0.431695,0.5692,0.562974]
+ - [0.383793,0.395941,0.567339,0.556819]
+ - [0.34374,0.360904,0.568871,0.553602]
+ - [0.304706,0.327413,0.574612,0.554115]
+info: "ddp_iterations=47;ddp_time=231.589607"
diff --git a/envs/quadrotor_v0/quad_one_obs/rrt_to_v0_guess_v0.yaml b/envs/quadrotor_v0/quad_one_obs/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..bc0b9ce
--- /dev/null
+++ b/envs/quadrotor_v0/quad_one_obs/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,49 @@
+time_stamp: 8
+cost: 2.97458
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [1,1,3,0,0,0,1,0,0,0,0,0,0]
+goal: [5,5,3,0,0,0,1,0,0,0,0,0,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 9
+states:
+ - [1,1,3,0,0,0,1,0,0,0,0,0,0]
+ - [0.856807,2.1196,1.27959,0.0194439,-0.355653,-0.457155,0.814949,0,0,0,0,0,0]
+ - [1.33626,4.01101,1.24936,0.304325,-0.187378,-0.270226,0.89401,0,0,0,0,0,0]
+ - [3.16853,4.73016,0.333772,0.016366,0.310732,-0.547285,0.776953,0,0,0,0,0,0]
+ - [4.37491,4.2561,0.343454,0.403933,-0.557596,-0.590275,0.421307,0,0,0,0,0,0]
+ - [5.37696,4.34678,0.684797,0.0574097,-0.0479093,-0.87378,0.480539,0,0,0,0,0,0]
+ - [5.65558,5.05731,1.20992,-0.907151,0.17954,0.0721371,0.373682,0,0,0,0,0,0]
+ - [5.49911,4.40127,2.6264,0.0361812,0.542807,-0.707656,0.45086,0,0,0,0,0,0]
+ - [5,5,3,0,0,0,1,0,0,0,0,0,0]
+num_actions: 8
+actions:
+ - [1,1,1,1]
+ - [1,1,1,1]
+ - [1,1,1,1]
+ - [1,1,1,1]
+ - [1,1,1,1]
+ - [1,1,1,1]
+ - [1,1,1,1]
+ - [1,1,1,1]
+num_times: 9
+times:
+ - 0
+ - 0.514406
+ - 1.00227
+ - 1.54499
+ - 1.86904
+ - 2.13466
+ - 2.36627
+ - 2.75848
+ - 2.97458
diff --git a/envs/quadrotor_v0/quad_one_obs/rrt_to_v0_solution_v0.yaml b/envs/quadrotor_v0/quad_one_obs/rrt_to_v0_solution_v0.yaml
new file mode 100644
index 0000000..50db9c3
--- /dev/null
+++ b/envs/quadrotor_v0/quad_one_obs/rrt_to_v0_solution_v0.yaml
@@ -0,0 +1,739 @@
+time_stamp: 2.21642e-316
+cost: 3.58
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [1,1,3,0,0,0,1,0,0,0,0,0,0]
+goal: [5,5,3,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.000764272
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0.000495004
+num_states: 359
+states:
+ - [1,1,3,0,0,0,1,0,0,0,0,0,0]
+ - [1,1,3,0,0,0,1,0,0,0.0213798,-0.536623,-0.0769007,0.00807363]
+ - [1,1,3.00021,-0.00268311,-0.000384503,4.03681e-05,0.999996,0,0,0.0446083,-0.949856,-0.132022,0.013856]
+ - [1,1,3.00066,-0.00743233,-0.00104461,0.000109592,0.999972,-9.45888e-05,0.000659864,0.0694737,-1.25372,-0.16834,0.0176548]
+ - [0.999999,1.00001,3.00135,-0.0137005,-0.00188629,0.000197568,0.999904,-0.000354681,0.00250893,0.0957589,-1.462,-0.18868,0.0197663]
+ - [0.999996,1.00003,3.00231,-0.0210094,-0.00282963,0.000295521,0.999775,-0.00082927,0.00595094,0.123242,-1.58807,-0.195676,0.0204697]
+ - [0.999987,1.00009,3.00354,-0.0289472,-0.00380789,0.000395923,0.999574,-0.00154756,0.0112722,0.151701,-1.64461,-0.191755,0.020023]
+ - [0.999972,1.0002,3.00506,-0.0371657,-0.00476647,0.000492422,0.999298,-0.00252055,0.0186462,0.180815,-1.65052,-0.186093,0.0193933]
+ - [0.999947,1.00039,3.00687,-0.0454111,-0.00569656,0.000584547,0.998952,-0.00373906,0.0281103,0.209778,-1.64385,-0.179728,0.0200778]
+ - [0.999909,1.00067,3.00897,-0.0536202,-0.0065943,0.000678797,0.998539,-0.00519127,0.0396323,0.238151,-1.60944,-0.158658,0.0223079]
+ - [0.999857,1.00107,3.01135,-0.061654,-0.00738569,0.000779621,0.99807,-0.00686731,0.0531846,0.265881,-1.54593,-0.133958,0.0249224]
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+ - [0.999701,1.00229,3.01694,-0.0766507,-0.00858208,0.00100502,0.997021,-0.0107804,0.0861565,0.319726,-1.35941,-0.0785222,0.0307952]
+ - [0.999593,1.00315,3.02014,-0.0834266,-0.00896835,0.00113028,0.996473,-0.0129535,0.10539,0.345977,-1.24782,-0.0497282,0.0338486]
+ - [0.999464,1.0042,3.0236,-0.0896432,-0.00920887,0.00126369,0.995931,-0.0152249,0.126296,0.371863,-1.13011,-0.0212219,0.0368734]
+ - [0.999312,1.00547,3.02731,-0.0952709,-0.00930501,0.00140476,0.995407,-0.0175594,0.148741,0.39744,-1.00989,0.00643266,0.0398094]
+ - [0.999136,1.00695,3.03129,-0.100298,-0.00926101,0.00155283,0.994913,-0.0199221,0.172584,0.422761,-0.890067,0.0328028,0.0426102]
+ - [0.998937,1.00868,3.03552,-0.104727,-0.00908328,0.00170711,0.994458,-0.0222788,0.197679,0.447874,-0.772911,0.0575711,0.0452417]
+ - [0.998714,1.01066,3.03999,-0.108572,-0.00877986,0.00186681,0.994048,-0.024597,0.223885,0.472824,-0.66016,0.0805198,0.0476802]
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+ - [0.99791,1.0182,3.05492,-0.116856,-0.00720991,0.00237031,0.99312,-0.0310231,0.30778,0.547084,-0.358836,0.137428,0.0537475]
+ - [0.997599,1.02127,3.06039,-0.118641,-0.00650034,0.00254396,0.992913,-0.0329009,0.337076,0.571759,-0.27232,0.152326,0.055418]
+ - [0.99727,1.02464,3.06611,-0.119997,-0.00571469,0.00271987,0.992754,-0.0346081,0.366839,0.596438,-0.192886,0.165401,0.0567933]
+ - [0.996924,1.02831,3.07208,-0.120958,-0.00486222,0.00289703,0.992642,-0.0361254,0.396963,0.621141,-0.120284,0.176651,0.0580014]
+ - [0.996563,1.03228,3.07829,-0.121559,-0.00395212,0.00307514,0.992572,-0.0374332,0.427291,0.645649,-0.0554839,0.187971,0.0571272]
+ - [0.996189,1.03655,3.08474,-0.121838,-0.00298538,0.00324331,0.99254,-0.0385149,0.457665,0.66971,0.000477149,0.1979,0.0559317]
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+ - [1.24707,1.24142,1.24718,1.24183]
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+ - [1.2571,1.25261,1.25867,1.25188]
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+ - [1.26441,1.2999,1.2999,1.27543]
+ - [1.26184,1.2999,1.2999,1.27401]
+ - [1.25961,1.2999,1.2999,1.27288]
+ - [1.25788,1.2999,1.2999,1.27219]
+ - [1.25682,1.2999,1.2999,1.27205]
+ - [1.25664,1.2999,1.29991,1.27263]
+ - [1.25756,1.2999,1.29991,1.27409]
+ - [1.25986,1.2999,1.29991,1.27661]
+ - [1.26382,1.2999,1.29991,1.28042]
+ - [1.26975,1.2999,1.29991,1.28573]
+ - [1.27802,1.2999,1.29991,1.29283]
+ - [1.28897,1.2999,1.29991,1.2999]
+ - [1.2999,1.2999,1.2999,1.2999]
+ - [1.2999,1.2999,1.2999,1.2999]
+ - [1.29991,1.2878,1.29083,1.29991]
+ - [1.29991,1.2685,1.26541,1.29991]
+ - [1.29991,1.24584,1.23532,1.29991]
+ - [1.29991,1.21969,1.2003,1.29991]
+ - [1.29991,1.18993,1.16015,1.29991]
+ - [1.29991,1.15655,1.11476,1.29991]
+info: "ddp_iterations=100;ddp_time=1463.708585"
diff --git a/envs/quadrotor_v0/recovery/idbastar_v0_db_solution_v0.yaml b/envs/quadrotor_v0/recovery/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..4111e73
--- /dev/null
+++ b/envs/quadrotor_v0/recovery/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,22 @@
+time_stamp: 1.56412
+cost: 0
+feasible: 0
+traj_feas: 1
+goal_feas: 0
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,1,-0.999048,0,0,0.0436194,0,0,0,0,0,0]
+goal: [0,0.8,1,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 1.56358
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 1
+states:
+ - [0,0,1,-0.999048,0,0,0.0436194,0,0,0,0,0,0]
+num_actions: 0
+actions:
diff --git a/envs/quadrotor_v0/recovery/idbastar_v0_opt_solution_v0.yaml b/envs/quadrotor_v0/recovery/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..7900a60
--- /dev/null
+++ b/envs/quadrotor_v0/recovery/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,1249 @@
+time_stamp: 1130.95
+cost: 6.13
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,1,-0.999048,0,0,0.0436194,0,0,0,0,0,0]
+goal: [0,0.8,1,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.000143176
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 6.56919e-05
+num_states: 614
+states:
+ - [0,0,1,-0.999048,0,0,0.0436194,0,0,0,0,0,0]
+ - [0,0,1,-0.999048,0,0,0.0436194,0,0.00192042,-0.120051,1.47017,-1.46282,0.153563]
+ - [0,1.92042e-05,0.998799,-0.998674,0.000448042,0.00734048,0.0509608,0,0.00363459,-0.237744,2.78411,-2.76678,0.29069]
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+ - [0.911956,0.895521,0.906399,0.900107]
+ - [0.912181,0.894431,0.905299,0.900075]
+info: "ddp_iterations=100;ddp_time=531.731704"
diff --git a/envs/quadrotor_v0/recovery/idbastar_v0_solution_v0.yaml b/envs/quadrotor_v0/recovery/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..562b6b3
--- /dev/null
+++ b/envs/quadrotor_v0/recovery/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,545 @@
+time_stamp: 3018.8
+cost: 2.61
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,1,-0.999048,0,0,0.0436194,0,0,0,0,0,0]
+goal: [0,0.8,1,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00132196
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0.000277718
+num_states: 262
+states:
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+ - [0,0,1,-0.999048,0,0,0.0436194,0,0.00294022,-0.131707,2.00401,-2.241,0.209269]
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diff --git a/envs/quadrotor_v0/recovery/rrt_to_v0_guess_v0.yaml b/envs/quadrotor_v0/recovery/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..562aabf
--- /dev/null
+++ b/envs/quadrotor_v0/recovery/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,28 @@
+time_stamp: 1
+cost: 0.2
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [0,0,1,-0.999048,0,0,0.0436194,0,0,0,0,0,0]
+goal: [0,0.8,1,0,0,0,1,0,0,0,0,0,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 2
+states:
+ - [0,0,1,-0.999048,0,0,0.0436194,0,0,0,0,0,0]
+ - [0,0.8,1,0,0,0,1,0,0,0,0,0,0]
+num_actions: 1
+actions:
+ - [1,1,1,1]
+num_times: 2
+times:
+ - 0
+ - 0.2
diff --git a/envs/quadrotor_v0/recovery_with_obs/idbastar_v0_db_solution_v0.yaml b/envs/quadrotor_v0/recovery_with_obs/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..d59c382
--- /dev/null
+++ b/envs/quadrotor_v0/recovery_with_obs/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,22 @@
+time_stamp: 1.68824
+cost: 0
+feasible: 0
+traj_feas: 1
+goal_feas: 0
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0.8,-0.999048,0,0,0.0436194,0,0,0,0,0,0]
+goal: [0,0,2.5,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 2.46358
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 1
+states:
+ - [0,0,0.8,-0.999048,0,0,0.0436194,0,0,0,0,0,0]
+num_actions: 0
+actions:
diff --git a/envs/quadrotor_v0/recovery_with_obs/idbastar_v0_opt_solution_v0.yaml b/envs/quadrotor_v0/recovery_with_obs/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..e6b9a93
--- /dev/null
+++ b/envs/quadrotor_v0/recovery_with_obs/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,1079 @@
+time_stamp: 1935.16
+cost: 5.28
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0.8,-0.999048,0,0,0.0436194,0,0,0,0,0,0]
+goal: [0,0,2.5,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.000305109
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 4.31965e-06
+num_states: 529
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+ - [0.788927,1.08918,0.799017,1.07593]
+ - [0.789119,1.08844,0.792507,1.0797]
+ - [0.789806,1.08692,0.78509,1.08388]
+ - [0.791069,1.08458,0.776707,1.08853]
+ - [0.793003,1.08138,0.767313,1.09373]
+ - [0.795726,1.07732,0.756883,1.09957]
+ - [0.799372,1.07243,0.745417,1.10619]
+ - [0.804101,1.06678,0.732943,1.11369]
+ - [0.810086,1.06046,0.719527,1.12221]
+ - [0.817491,1.05364,0.705291,1.13189]
+info: "ddp_iterations=87;ddp_time=681.391322"
diff --git a/envs/quadrotor_v0/recovery_with_obs/idbastar_v0_solution_v0.yaml b/envs/quadrotor_v0/recovery_with_obs/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..c607510
--- /dev/null
+++ b/envs/quadrotor_v0/recovery_with_obs/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,727 @@
+time_stamp: 4772.17
+cost: 3.52
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0.8,-0.999048,0,0,0.0436194,0,0,0,0,0,0]
+goal: [0,0,2.5,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00133995
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0.000203425
+num_states: 353
+states:
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+ - [0,0,0.8,-0.999048,0,0,0.0436194,0,0.0027785,-0.129858,2.12784,-2.11738,0.222212]
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+ - [0.518058,1.13187,0.193377,1.29167]
+ - [0.533578,1.09328,0.136059,1.2999]
+info: "ddp_iterations=75;ddp_time=253.127672"
diff --git a/envs/quadrotor_v0/window/idbastar_v0_db_solution_v0.yaml b/envs/quadrotor_v0/window/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..633c49b
--- /dev/null
+++ b/envs/quadrotor_v0/window/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,764 @@
+time_stamp: 11.5962
+cost: 3.71
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [4,1,2,0,0,0,1,0,0,0,0,0,0]
+goal: [4,5,2,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0.348235
+max_collision: 0
+goal_distance: 1.33537
+start_distance: 0.300409
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 372
+states:
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+ - [1.1407,1.3,1.15814,1.18487]
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+ - [1.15957,1.3,1.16411,1.25262]
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+ - [1.3,0.51119,1.18758,0.74639]
+ - [1.3,0.532631,1.18731,0.7744]
+ - [1.3,0.578101,1.19066,0.802775]
+ - [1.3,0.641771,1.19584,0.830594]
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+ - [1.19056,1.02206,1.3,1.11056]
+ - [1.1806,1.04695,1.3,1.16046]
+ - [1.17489,1.06953,1.3,1.20055]
+ - [1.17268,1.08959,1.3,1.23168]
+ - [1.17334,1.10719,1.3,1.25488]
+ - [1.17633,1.12256,1.3,1.27135]
+ - [1.18117,1.13606,1.3,1.28232]
+ - [1.18743,1.14754,1.3,1.28845]
+ - [1.19476,1.15771,1.3,1.29116]
+ - [1.20284,1.16679,1.3,1.29135]
+ - [1.2114,1.175,1.3,1.28974]
diff --git a/envs/quadrotor_v0/window/idbastar_v0_opt_solution_v0.yaml b/envs/quadrotor_v0/window/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..7fe2a2a
--- /dev/null
+++ b/envs/quadrotor_v0/window/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,901 @@
+time_stamp: 4435.5
+cost: 4.39
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [4,1,2,0,0,0,1,0,0,0,0,0,0]
+goal: [4,5,2,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00029478
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 440
+states:
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+ - [4,1,2,0,0,0,1,0,0,-7.47004e-05,-0.241441,-0.315709,-0.00256638]
+ - [4,1,2,-0.0012072,-0.00157854,-1.28319e-05,0.999998,0,0,-0.000149343,-0.434144,-0.566288,-0.00517854]
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+ - [1.01452,1.04357,1.02061,1.00502]
+ - [1.01461,1.04453,1.02098,1.00444]
+ - [1.01466,1.04516,1.02125,1.00404]
+ - [1.01467,1.04536,1.02138,1.00388]
+ - [1.01462,1.04503,1.02134,1.00401]
+ - [1.01449,1.04406,1.02108,1.00448]
+ - [1.01427,1.04232,1.02056,1.00537]
+ - [1.01394,1.03969,1.01973,1.00673]
+ - [1.01349,1.03602,1.01856,1.00864]
+ - [1.01292,1.03118,1.01699,1.01121]
+ - [1.01222,1.02504,1.015,1.01452]
+ - [1.01142,1.01747,1.01256,1.0187]
+ - [1.01054,1.00835,1.00966,1.02389]
+ - [1.00965,0.997613,1.00633,1.03024]
+ - [1.00882,0.985194,1.00261,1.03793]
+ - [1.00818,0.971081,0.998568,1.04719]
+ - [1.00788,0.955306,0.994333,1.05824]
+ - [1.00811,0.937951,0.990057,1.07135]
+ - [1.00908,0.919154,0.985934,1.0868]
+info: "ddp_iterations=45;ddp_time=319.193869"
diff --git a/envs/quadrotor_v0/window/idbastar_v0_solution_v0.yaml b/envs/quadrotor_v0/window/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..83c8cd5
--- /dev/null
+++ b/envs/quadrotor_v0/window/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,521 @@
+time_stamp: 7287.86
+cost: 2.49
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [4,1,2,0,0,0,1,0,0,0,0,0,0]
+goal: [4,5,2,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00205404
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 250
+states:
+ - [4,1,2,0,0,0,1,0,0,0,0,0,0]
+ - [4,1,2,0,0,0,1,0,0,-0.000829213,-0.78883,-1.03183,0.00137747]
+ - [4,1,1.99999,-0.00394412,-0.00515911,6.88729e-06,0.999979,0,0,-0.00165761,-1.41136,-1.83719,0.00267028]
+ - [4,1,1.99998,-0.0110004,-0.0143443,2.00612e-05,0.999837,-0.00101462,0.000775664,-0.00143132,-1.8853,-2.44097,0.0038711]
+ - [3.99999,1.00001,1.99996,-0.0204237,-0.0265449,3.8452e-05,0.999439,-0.00388736,0.00297862,0.000553223,-2.22804,-2.86751,0.00499375]
+ - [3.99995,1.00004,1.99997,-0.0315537,-0.0408692,6.05081e-05,0.998666,-0.0093224,0.00716,0.00465214,-2.45653,-3.14035,0.00606513]
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+ - [1.14137,1.16057,1.14874,1.10864]
+ - [1.14624,1.16962,1.15496,1.10961]
+ - [1.15116,1.17909,1.16133,1.11043]
+ - [1.15611,1.18892,1.16786,1.11111]
+ - [1.16108,1.19905,1.17451,1.11169]
+ - [1.16605,1.20937,1.18124,1.11223]
+ - [1.17098,1.21971,1.18799,1.11278]
+ - [1.17582,1.2299,1.19467,1.11338]
+ - [1.18049,1.23966,1.20114,1.11411]
+ - [1.18488,1.24867,1.20726,1.115]
+ - [1.18883,1.25652,1.21279,1.11611]
+ - [1.19217,1.26272,1.21748,1.11748]
+ - [1.19467,1.26666,1.22099,1.11913]
+ - [1.19604,1.26766,1.22294,1.12107]
+ - [1.19597,1.26494,1.22288,1.12332]
+ - [1.19412,1.25765,1.22032,1.12587]
+ - [1.19013,1.24489,1.21475,1.12877]
+ - [1.18368,1.22574,1.20568,1.13207]
+ - [1.1745,1.19936,1.19267,1.13593]
+ - [1.16249,1.16504,1.17543,1.1406]
+ - [1.14769,1.12227,1.15385,1.14654]
+ - [1.13048,1.07091,1.12814,1.15444]
+ - [1.11156,1.01123,1.09887,1.16532]
+ - [1.09212,0.944035,1.06708,1.18059]
+ - [1.0738,0.870694,1.03435,1.20209]
+ - [1.05878,0.79318,1.00274,1.23212]
+ - [1.04969,0.714025,0.974828,1.2734]
+info: "ddp_iterations=12;ddp_time=48.448631"
diff --git a/envs/quadrotor_v0/window/rrt_to_v0_guess_v0.yaml b/envs/quadrotor_v0/window/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..61b16af
--- /dev/null
+++ b/envs/quadrotor_v0/window/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,43 @@
+time_stamp: 5
+cost: 1.51772
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [4,1,2,0,0,0,1,0,0,0,0,0,0]
+goal: [4,5,2,0,0,0,1,0,0,0,0,0,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 7
+states:
+ - [4,1,2,0,0,0,1,0,0,0,0,0,0]
+ - [2.79652,1.15622,2.25985,0.150751,0.0560067,-0.574946,0.802231,0,0,0,0,0,0]
+ - [2.2321,2.41705,1.84948,0.484371,-0.0113845,-0.596887,0.639516,0,0,0,0,0,0]
+ - [2.51288,3.39847,1.71032,0.0501354,-0.782455,-0.426835,0.450625,0,0,0,0,0,0]
+ - [3.26364,3.96731,1.51369,-0.708845,-0.547378,-0.442969,0.041153,0,0,0,0,0,0]
+ - [3.73225,4.73829,1.71166,-0.32787,-0.119993,-0.633075,0.690883,0,0,0,0,0,0]
+ - [4,5,2,0,0,0,1,0,0,0,0,0,0]
+num_actions: 6
+actions:
+ - [1,1,1,1]
+ - [1,1,1,1]
+ - [1,1,1,1]
+ - [1,1,1,1]
+ - [1,1,1,1]
+ - [1,1,1,1]
+num_times: 7
+times:
+ - 0
+ - 0.310271
+ - 0.670537
+ - 0.928097
+ - 1.16865
+ - 1.39957
+ - 1.51772
diff --git a/envs/quadrotor_v1/empty_0_easy.yaml b/envs/quadrotor_v1/empty_0_easy.yaml
new file mode 100644
index 0000000..ab9d4c6
--- /dev/null
+++ b/envs/quadrotor_v1/empty_0_easy.yaml
@@ -0,0 +1,9 @@
+name: quadrotor_ompl-empty_0
+environment:
+ min: [-1, -1, .8]
+ max: [1, 1, 3]
+ obstacles: []
+robots:
+ - type: quad3d_omplapp
+ start: [0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0]
+ goal: [0, 0, 2, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0]
diff --git a/envs/quadrotor_v1/empty_0_easy/idbastar_v0_db_solution_v0.yaml b/envs/quadrotor_v1/empty_0_easy/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..529337d
--- /dev/null
+++ b/envs/quadrotor_v1/empty_0_easy/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,308 @@
+time_stamp: 34.3025
+cost: 1.43
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,1,0,0,0,1,0,0,0,0,0,0]
+goal: [0,0,2,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0.385357
+max_collision: 0
+goal_distance: 0.776925
+start_distance: 0.307157
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 144
+states:
+ - [-8.30945e-08,6.52363e-08,1,-0.180712,-0.141386,-0.187645,-0.955061,-3.14827e-08,-4.81705e-08,2.24375e-08,2.83089,1.08148,-0.798423]
+ - [-8.34094e-08,6.47546e-08,1,-0.192629,-0.14991,-0.182785,-0.952371,0.0497196,-0.0429857,0.033556,2.43089,0.68148,-0.922715]
+ - [0.000497113,-0.000429792,1.00034,-0.202872,-0.156252,-0.17721,-0.950276,0.102099,-0.088912,0.065072,2.03089,0.28148,-1.00147]
+ - [0.0015181,-0.00131891,1.00099,-0.211476,-0.160394,-0.171139,-0.948822,0.156378,-0.137499,0.0948242,1.63089,-0.11852,-1.03762]
+ - [0.00308188,-0.00269391,1.00193,-0.218473,-0.162317,-0.164775,-0.948036,0.211817,-0.188473,0.123141,1.23089,-0.51852,-1.03475]
+ - [0.00520006,-0.00457864,1.00317,-0.223887,-0.161998,-0.158299,-0.947931,0.267699,-0.241557,0.15039,0.83089,-0.91852,-0.996932]
+ - [0.00787705,-0.00699422,1.00467,-0.227737,-0.159413,-0.151868,-0.948504,0.323323,-0.296469,0.176965,0.43089,-1.31852,-0.927771]
+ - [0.0111103,-0.00995891,1.00644,-0.230035,-0.154538,-0.145618,-0.949735,0.378001,-0.352916,0.203272,0.0308899,-1.71852,-0.830404]
+ - [0.0148903,-0.0134881,1.00847,-0.23078,-0.147348,-0.139667,-0.951589,0.431054,-0.41059,0.229721,-0.36911,-2.11852,-0.707594]
+ - [0.0192008,-0.017594,1.01077,-0.229968,-0.137818,-0.134119,-0.954009,0.481805,-0.469164,0.256707,-0.76911,-2.51852,-0.562216]
+ - [0.0240189,-0.0222856,1.01334,-0.22758,-0.125923,-0.129059,-0.956919,0.529577,-0.528291,0.284603,-1.16911,-2.91852,-0.39692]
+ - [0.0293147,-0.0275685,1.01618,-0.223591,-0.111641,-0.124559,-0.960223,0.573683,-0.587599,0.313744,-1.56911,-3.31852,-0.214175]
+ - [0.0350515,-0.0334445,1.01932,-0.217967,-0.0949527,-0.120676,-0.963801,0.613429,-0.646692,0.344413,-1.96911,-3.71852,-0.0167514]
+ - [0.0411858,-0.0399114,1.02276,-0.210666,-0.0758437,-0.117451,-0.967509,0.648103,-0.705146,0.376827,-2.36911,-4.04805,0.193517]
+ - [0.0476668,-0.0469629,1.02653,-0.201599,-0.054647,-0.11499,-0.971159,0.67698,-0.762509,0.411123,-2.76911,-4.28067,0.414455]
+ - [0.0544366,-0.054588,1.03064,-0.190662,-0.0318357,-0.113407,-0.974563,0.699421,-0.818279,0.447333,-3.16911,-4.42539,0.644017]
+ - [0.0614308,-0.0627708,1.03512,-0.177762,-0.00785169,-0.112788,-0.977557,0.714916,-0.871901,0.485387,-3.56911,-4.49081,0.880315]
+ - [0.06858,-0.0714898,1.03997,-0.162811,0.0168935,-0.113192,-0.979997,0.723075,-0.922781,0.525119,-3.96911,-4.48708,1.12166]
+ - [0.0758107,-0.0807176,1.04522,-0.145734,0.0420278,-0.114647,-0.981759,0.723627,-0.970301,0.566284,-4.30167,-4.42451,1.3666]
+ - [0.083047,-0.0904206,1.05088,-0.126798,0.0671833,-0.11717,-0.98269,0.716401,-1.01383,0.608563,-4.55801,-4.31243,1.6139]
+ - [0.090211,-0.100559,1.05697,-0.106323,0.0920261,-0.120772,-0.98267,0.701343,-1.05281,0.651553,-4.74375,-4.15969,1.86252]
+ - [0.0972244,-0.111087,1.06349,-0.084617,0.116265,-0.125463,-0.981622,0.678508,-1.08683,0.694784,-4.86423,-3.97179,2.11154]
+ - [0.10401,-0.121955,1.07043,-0.0619647,0.139635,-0.131249,-0.979508,0.648045,-1.11557,0.737749,-4.92416,-3.75966,2.36015]
+ - [0.11049,-0.133111,1.07781,-0.0386381,0.16193,-0.138132,-0.976322,0.610186,-1.13883,0.77993,-4.92928,-3.53015,2.60762]
+ - [0.116592,-0.144499,1.08561,-0.0148854,0.182979,-0.146112,-0.972085,0.565229,-1.15651,0.820824,-4.88508,-3.28954,2.85328]
+ - [0.122244,-0.156064,1.09382,0.00906911,0.202648,-0.155186,-0.966835,0.513521,-1.16864,0.859955,-4.79356,-3.0454,3.09645]
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+ - [0.131934,-0.179504,1.11139,0.0567544,0.237482,-0.176604,-0.953516,0.391406,-1.17673,0.931272,-4.50014,-2.56048,3.57118]
+ - [0.135848,-0.191271,1.1207,0.0801567,0.25253,-0.188924,-0.945575,0.321814,-1.17315,0.962776,-4.30857,-2.32806,3.80111]
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+ - [1.5,0.0291123,-0.245186,-0.720604]
+ - [1.5,-0.0230161,-2,0.887623]
+ - [1.5,0.0255985,-2,0.854908]
+ - [1.5,0.0708357,-2,0.82575]
+ - [1.5,0.111874,-2,0.799938]
+ - [1.5,0.148033,-2,0.777208]
+ - [1.49955,0.178815,-2,0.757253]
+ - [1.47357,0.203851,-1.99998,0.739768]
+ - [1.43773,0.222907,-1.92928,0.72445]
+ - [1.40319,0.235863,-1.79732,0.711004]
+ - [1.37489,0.242681,-1.66623,0.69916]
+ - [1.35273,0.243423,-1.53785,0.688655]
+ - [1.33634,0.238171,-1.40993,0.679298]
+ - [1.32529,0.227151,-1.27891,0.67087]
+ - [1.31906,0.210617,-1.15253,0.663195]
+ - [1.31703,0.188869,-1.03144,0.65611]
+ - [1.31857,0.162253,-0.916188,0.649469]
+ - [1.5,-2,-1.1812,0.52019]
+ - [1.5,-2,-1.1098,0.550878]
+ - [1.45821,-2,-1.01276,0.576216]
+ - [1.40564,-2,-0.900337,0.595735]
+ - [1.36952,-2,-0.784704,0.609141]
diff --git a/envs/quadrotor_v1/empty_0_easy/idbastar_v0_opt_solution_v0.yaml b/envs/quadrotor_v1/empty_0_easy/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..c5304c9
--- /dev/null
+++ b/envs/quadrotor_v1/empty_0_easy/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,201 @@
+time_stamp: 136.055
+cost: 0.89
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,1,0,0,0,1,0,0,0,0,0,0]
+goal: [0,0,2,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 6.11724e-05
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 90
+states:
+ - [0,0,1,0,0,0,1,0,0,0,0,0,0]
+ - [0,0,1,0,0,0,1,0,0,0.0490414,6.97522e-07,5.05862e-07,0.000280586]
+ - [0,0,1.00049,3.48761e-09,2.52931e-09,1.40293e-06,1,0,0,0.0980828,1.25313e-06,8.87989e-07,0.000561387]
+ - [0,0,1.00147,9.75326e-09,6.96925e-09,4.20987e-06,1,7.44333e-10,-1.02634e-09,0.147124,1.65584e-06,1.08603e-06,0.000841317]
+ - [7.44333e-12,-1.02634e-11,1.00294,1.80325e-08,1.23994e-08,8.41646e-06,1,2.79527e-09,-3.89655e-09,0.196165,1.90747e-06,1.10426e-06,0.00111923]
+ - [3.53961e-11,-4.92289e-11,1.0049,2.75699e-08,1.79207e-08,1.40126e-05,1,6.44425e-09,-9.20316e-09,0.245207,1.98947e-06,9.00164e-07,0.001394]
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+num_actions: 89
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+ - [0.242876,4.97622e-06,9.03754e-06,0.00185083]
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+ - [0.200739,-1.15904e-05,-2.47863e-05,0.00196359]
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+ - [0.137416,-4.58015e-05,-9.50748e-05,0.00205442]
+info: "ddp_iterations=10;ddp_time=6.414501"
diff --git a/envs/quadrotor_v1/empty_0_easy/idbastar_v0_solution_v0.yaml b/envs/quadrotor_v1/empty_0_easy/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..05a83a8
--- /dev/null
+++ b/envs/quadrotor_v1/empty_0_easy/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,183 @@
+time_stamp: 205.908
+cost: 0.8
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,1,0,0,0,1,0,0,0,0,0,0]
+goal: [0,0,2,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.000152019
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 81
+states:
+ - [0,0,1,0,0,0,1,0,0,0,0,0,0]
+ - [0,0,1,0,0,0,1,0,0,0.0490452,-1.42479e-07,2.25503e-07,4.44666e-07]
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+num_actions: 80
+actions:
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+ - [8.95811e-05,2.12858e-06,2.07986e-06,-6.02282e-07]
+ - [8.82554e-05,-2.71564e-06,-1.5865e-06,1.47124e-06]
+ - [8.69295e-05,-3.43755e-06,-6.4984e-07,1.76388e-06]
+ - [8.56035e-05,2.47742e-06,4.8571e-07,-1.12423e-06]
+ - [8.42775e-05,1.3656e-07,2.41385e-06,-2.03264e-06]
+info: "ddp_iterations=57;ddp_time=32.194441"
diff --git a/envs/quadrotor_v1/empty_0_easy/rrt_to_v0_guess_v0.yaml b/envs/quadrotor_v1/empty_0_easy/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..1f26780
--- /dev/null
+++ b/envs/quadrotor_v1/empty_0_easy/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,28 @@
+time_stamp: 1
+cost: 0.25
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [0,0,1,0,0,0,1,0,0,0,0,0,0]
+goal: [0,0,2,0,0,0,1,0,0,0,0,0,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 2
+states:
+ - [0,0,1,0,0,0,1,0,0,0,0,0,0]
+ - [0,0,2,0,0,0,1,0,0,0,0,0,0]
+num_actions: 1
+actions:
+ - [1,0,0,0]
+num_times: 2
+times:
+ - 0
+ - 0.25
diff --git a/envs/quadrotor_v1/empty_0_easy/rrt_to_v0_solution_v0.yaml b/envs/quadrotor_v1/empty_0_easy/rrt_to_v0_solution_v0.yaml
new file mode 100644
index 0000000..693add4
--- /dev/null
+++ b/envs/quadrotor_v1/empty_0_easy/rrt_to_v0_solution_v0.yaml
@@ -0,0 +1,217 @@
+time_stamp: 1.1057e-316
+cost: 0.97
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,1,0,0,0,1,0,0,0,0,0,0]
+goal: [0,0,2,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 4.20182e-05
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 98
+states:
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+ - [0.409896,-1.15717e-07,1.12148e-07,2.22666e-08]
+ - [0.394638,-9.94995e-08,3.12024e-08,-3.74925e-08]
+ - [0.379361,-3.44854e-08,6.23557e-08,-8.77102e-09]
+ - [0.364037,1.17208e-08,-1.34304e-08,-4.70348e-08]
+ - [0.3496,1.50536e-07,3.74841e-08,4.72087e-08]
+ - [0.335224,1.69443e-07,-5.90791e-08,-1.90198e-08]
+ - [0.320906,2.73449e-07,-1.11447e-07,-5.1057e-08]
+info: "ddp_iterations=12;ddp_time=19.115781"
diff --git a/envs/quadrotor_v1/empty_1_easy.yaml b/envs/quadrotor_v1/empty_1_easy.yaml
new file mode 100644
index 0000000..bd1a254
--- /dev/null
+++ b/envs/quadrotor_v1/empty_1_easy.yaml
@@ -0,0 +1,9 @@
+name: quadrotor_ompl-empty_1
+environment:
+ min: [-1, -1, .8]
+ max: [1, 1, 2.5]
+ obstacles: []
+robots:
+ - type: quad3d_omplapp
+ start: [0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0]
+ goal: [0.5, 0.5, 2., 0, 0, 0, 1, 0, 0, 0, 0, 0, 0]
diff --git a/envs/quadrotor_v1/empty_1_easy/idbastar_v0_db_solution_v0.yaml b/envs/quadrotor_v1/empty_1_easy/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..33ae01c
--- /dev/null
+++ b/envs/quadrotor_v1/empty_1_easy/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,368 @@
+time_stamp: 53.0468
+cost: 1.73
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,1,0,0,0,1,0,0,0,0,0,0]
+goal: [0.5,0.5,2,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0.396838
+max_collision: 0
+goal_distance: 0.66374
+start_distance: 0.392059
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 174
+states:
+ - [2.45638e-08,9.58349e-08,1,-0.0409074,-0.065052,-0.115655,0.990312,4.1823e-08,9.37906e-08,9.98342e-08,1.16166,-2.31915,-5.9034]
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diff --git a/envs/quadrotor_v1/empty_1_easy/idbastar_v0_opt_solution_v0.yaml b/envs/quadrotor_v1/empty_1_easy/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..113348d
--- /dev/null
+++ b/envs/quadrotor_v1/empty_1_easy/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,283 @@
+time_stamp: 174.541
+cost: 1.3
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,1,0,0,0,1,0,0,0,0,0,0]
+goal: [0.5,0.5,2,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.000106066
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 131
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+ - [0.476524,0.610567,-0.610567,4.79792e-08]
+ - [0.461543,0.6668,-0.6668,4.86238e-08]
+info: "ddp_iterations=5;ddp_time=4.862295"
diff --git a/envs/quadrotor_v1/empty_1_easy/idbastar_v0_solution_v0.yaml b/envs/quadrotor_v1/empty_1_easy/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..0d3b222
--- /dev/null
+++ b/envs/quadrotor_v1/empty_1_easy/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,233 @@
+time_stamp: 296.504
+cost: 1.05
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,1,0,0,0,1,0,0,0,0,0,0]
+goal: [0.5,0.5,2,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.000325676
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 106
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+ - [0.68236,0.122524,-0.122523,1.84953e-07]
+ - [0.649484,0.0854802,-0.0854807,8.52463e-08]
+ - [0.621576,0.0484338,-0.0484343,-5.03206e-07]
+ - [0.598756,0.0114216,-0.0114214,1.00011e-07]
+ - [0.581105,-0.0255254,0.0255246,-6.46749e-07]
+ - [0.56867,-0.0623754,0.0623759,-6.61431e-07]
+ - [0.561459,-0.0991015,0.0991017,-6.27211e-07]
+ - [0.559443,-0.135674,0.135674,1.50624e-07]
+ - [0.562556,-0.172057,0.172057,4.30133e-07]
+ - [0.570693,-0.208214,0.208214,9.90151e-08]
+ - [0.583703,-0.244101,0.244102,-3.45573e-07]
+ - [0.601405,-0.279664,0.279664,2.85787e-07]
+ - [0.623578,-0.314836,0.314836,3.94585e-07]
+ - [0.649965,-0.349538,0.349539,-4.75634e-07]
+ - [0.680272,-0.383679,0.383679,3.84291e-07]
+ - [0.714173,-0.417145,0.417145,3.24044e-07]
+ - [0.751305,-0.449803,0.449804,1.9603e-07]
+ - [0.791273,-0.481505,0.481504,2.45862e-07]
+ - [0.83365,-0.512069,0.512069,-5.8843e-08]
+ - [0.87798,-0.541295,0.541295,-6.28108e-07]
+ - [0.923762,-0.568951,0.56895,-5.32531e-07]
+ - [0.970462,-0.594776,0.594775,1.14168e-07]
+ - [1.0175,-0.618476,0.618476,-6.12957e-08]
+ - [1.06425,-0.639728,0.639728,-8.40354e-07]
+ - [1.11004,-0.658176,0.658176,-7.48177e-07]
+ - [1.15413,-0.67344,0.673439,-3.09613e-07]
+ - [1.19576,-0.685121,0.68512,-6.62429e-07]
+ - [1.23409,-0.692815,0.692815,3.1744e-08]
+ - [1.26831,-0.696132,0.696131,-4.71776e-07]
+ - [1.29759,-0.694705,0.694705,-5.71032e-07]
+ - [1.32114,-0.688217,0.688219,-6.0203e-07]
+ - [1.33824,-0.67641,0.67641,-4.14103e-07]
+ - [1.34825,-0.659091,0.659091,-9.56074e-07]
+ - [1.35064,-0.636136,0.636137,-6.79764e-07]
+ - [1.34497,-0.607492,0.607493,-4.21114e-07]
+ - [1.33092,-0.573163,0.573163,3.19321e-07]
+ - [1.30826,-0.533205,0.533205,5.45053e-07]
+ - [1.27691,-0.487716,0.487717,-6.76857e-07]
+ - [1.23686,-0.436823,0.436823,-1.49009e-07]
+ - [1.18822,-0.380659,0.38066,-3.75593e-07]
+ - [1.13117,-0.31937,0.31937,3.99981e-07]
+ - [1.06599,-0.253112,0.253113,7.90461e-07]
+ - [0.99308,-0.182073,0.182073,-2.12024e-07]
+ - [0.912935,-0.106481,0.106481,-3.61996e-08]
+ - [0.826167,-0.0266081,0.0266075,-2.92869e-07]
+ - [0.73349,0.0572426,-0.0572427,5.87488e-07]
+ - [0.635725,0.144743,-0.144743,3.20714e-07]
+ - [0.533809,0.235556,-0.235556,7.03729e-07]
+ - [0.428816,0.329349,-0.329349,3.35509e-07]
+ - [0.321969,0.425789,-0.425789,-2.209e-08]
+ - [0.214659,0.524557,-0.524557,5.35092e-07]
+ - [0.108524,0.625313,-0.625312,4.58027e-07]
+ - [0.00592414,0.727663,-0.727663,2.10222e-08]
+ - [9.74233e-05,0.831385,-0.831385,6.1306e-07]
+ - [9.51099e-05,0.936253,-0.936254,-1.54837e-07]
+ - [9.30229e-05,1.04164,-1.04164,5.77837e-07]
+ - [9.12254e-05,1.14721,-1.14721,9.81669e-08]
+ - [8.97843e-05,1.25177,-1.25177,-1.48609e-07]
+info: "ddp_iterations=12;ddp_time=9.346314"
diff --git a/envs/quadrotor_v1/empty_1_easy/rrt_to_v0_guess_v0.yaml b/envs/quadrotor_v1/empty_1_easy/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..c47d169
--- /dev/null
+++ b/envs/quadrotor_v1/empty_1_easy/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,28 @@
+time_stamp: 3
+cost: 0.306186
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [0,0,1,0,0,0,1,0,0,0,0,0,0]
+goal: [0.5,0.5,2,0,0,0,1,0,0,0,0,0,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 2
+states:
+ - [0,0,1,0,0,0,1,0,0,0,0,0,0]
+ - [0.5,0.5,2,0,0,0,1,0,0,0,0,0,0]
+num_actions: 1
+actions:
+ - [1,0,0,0]
+num_times: 2
+times:
+ - 0
+ - 0.306186
diff --git a/envs/quadrotor_v1/empty_1_easy/rrt_to_v0_solution_v0.yaml b/envs/quadrotor_v1/empty_1_easy/rrt_to_v0_solution_v0.yaml
new file mode 100644
index 0000000..ef16279
--- /dev/null
+++ b/envs/quadrotor_v1/empty_1_easy/rrt_to_v0_solution_v0.yaml
@@ -0,0 +1,201 @@
+time_stamp: 1.67585e-316
+cost: 0.89
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,1,0,0,0,1,0,0,0,0,0,0]
+goal: [0.5,0.5,2,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00178183
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0.000298673
+num_states: 90
+states:
+ - [0,0,1,0,0,0,1,0,0,0,0,0,0]
+ - [0,0,1,0,0,0,1,0,0,0.049079,-0.399989,0.399989,-1.67475e-08]
+ - [0,0,1.00049,-0.00199994,0.00199994,-8.37372e-11,0.999996,0,0,0.0981572,-0.799975,0.799975,-3.26512e-08]
+ - [0,0,1.00147,-0.00599975,0.00599975,-2.4699e-10,0.999964,0.000588691,0.000588691,0.147233,-1.19996,1.19996,-4.77185e-08]
+ - [5.88691e-06,5.88691e-06,1.00294,-0.011999,0.011999,-4.85562e-10,0.999856,0.00235468,0.00235468,0.196289,-1.59994,1.59994,-6.1959e-08]
+ - [2.94337e-05,2.94337e-05,1.00491,-0.0199966,0.0199966,-7.95274e-10,0.9996,0.00588615,0.00588615,0.245281,-1.94836,1.94836,-7.53818e-08]
+ - [8.82952e-05,8.82952e-05,1.00736,-0.0297323,0.0297323,-1.17115e-09,0.999116,0.0117699,0.0117699,0.294123,-2.21661,2.21661,-8.79985e-08]
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+ - [0.0150434,0.0150434,1.07269,-0.168283,0.168283,-9.2837e-09,0.971268,0.348141,0.348141,0.804623,-1.49061,1.49061,-1.80867e-07]
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+ - [0.498993,0.498993,1.97838,0.0411152,-0.0411152,-1.57783e-09,0.998308,0.000407716,0.000407716,0.589097,-2.21666,2.21666,8.58877e-08]
+ - [0.498997,0.498997,1.98427,0.030046,-0.030046,-1.1532e-09,0.999097,0.000408848,0.000408848,0.490983,-1.91751,1.91751,7.36287e-08]
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+ - [0.499005,0.499005,1.99311,0.0125738,-0.0125738,-4.86059e-10,0.999842,0.000410551,0.000410551,0.294749,-1.19998,1.19998,4.66262e-08]
+ - [0.499009,0.499009,1.99605,0.00657443,-0.00657443,-2.5287e-10,0.999957,0.000411054,0.000411054,0.196629,-0.8,0.8,3.18921e-08]
+ - [0.499013,0.499013,1.99802,0.00257452,-0.00257452,-9.33594e-11,0.999993,0.000411339,0.000411339,0.0985074,-0.400019,0.400019,1.63486e-08]
+ - [0.499017,0.499017,1.999,0.000574433,-0.000574433,-1.159e-11,1,0.000411458,0.000411458,0.000384346,-3.59603e-05,3.59603e-05,1.18033e-12]
+num_actions: 89
+actions:
+ - [1.5003,-1.99995,1.99995,-8.37373e-08]
+ - [1.50029,-1.99993,1.99993,-7.95186e-08]
+ - [1.50028,-1.99992,1.99992,-7.53367e-08]
+ - [1.50028,-1.9999,1.9999,-7.12025e-08]
+ - [1.50028,-1.7421,1.7421,-6.7114e-08]
+ - [1.50028,-1.34127,1.34127,-6.30835e-08]
+ - [1.50028,-0.977847,0.977847,-5.91352e-08]
+ - [1.50029,-0.649817,0.649817,-5.52771e-08]
+ - [1.50029,-0.355087,0.355087,-5.15044e-08]
+ - [1.50029,-0.0915207,0.0915206,-4.78029e-08]
+ - [1.5003,0.143031,-0.143031,-4.41525e-08]
+ - [1.5003,0.350696,-0.350696,-4.05301e-08]
+ - [1.5003,0.533554,-0.533554,-3.69117e-08]
+ - [1.5003,0.693613,-0.693613,-3.32749e-08]
+ - [1.50029,0.832782,-0.832782,-2.95998e-08]
+ - [1.50029,0.952857,-0.952857,-2.58704e-08]
+ - [1.50028,1.0555,-1.0555,-2.20754e-08]
+ - [1.50027,1.14225,-1.14225,-1.82077e-08]
+ - [1.50027,1.21448,-1.21448,-1.42654e-08]
+ - [1.50026,1.27342,-1.27342,-1.02508e-08]
+ - [1.50025,1.32016,-1.32016,-6.17055e-09]
+ - [1.50023,1.35563,-1.35563,-2.03505e-09]
+ - [1.50022,1.38064,-1.38064,2.14205e-09]
+ - [1.50021,1.39586,-1.39586,6.34435e-09]
+ - [1.50019,1.40182,-1.40182,1.05532e-08]
+ - [1.50018,1.39899,-1.39899,1.47483e-08]
+ - [1.50017,1.38769,-1.38769,1.89079e-08]
+ - [1.50015,1.36819,-1.36819,2.30098e-08]
+ - [1.50014,1.34069,-1.34069,2.70312e-08]
+ - [1.50012,1.30535,-1.30534,3.09492e-08]
+ - [1.5001,1.26226,-1.26226,3.47414e-08]
+ - [1.50009,1.21152,-1.21152,3.83862e-08]
+ - [1.50007,1.15323,-1.15323,4.18625e-08]
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+ - [1.50004,1.01439,-1.01439,4.82318e-08]
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+ - [1.50001,0.846951,-0.846951,5.37067e-08]
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+ - [1.49993,0.198753,-0.198753,6.36739e-08]
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+ - [0.644728,-0.688462,0.688462,6.1204e-08]
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+ - [0.637375,-1.05614,1.05614,5.52526e-08]
+ - [0.728522,-1.17291,1.17291,5.26403e-08]
+ - [0.857527,-1.28492,1.28492,4.97324e-08]
+ - [1.01767,-1.39052,1.39052,4.65464e-08]
+ - [1.20151,-1.4876,1.4876,4.31047e-08]
+ - [1.40097,-1.57369,1.57369,3.94355e-08]
+ - [1.4999,-1.6468,1.6468,3.55724e-08]
+ - [1.49991,-1.70579,1.70579,3.1553e-08]
+ - [1.49991,-1.74951,1.74951,2.74164e-08]
+ - [1.49992,-1.77677,1.77677,2.32037e-08]
+ - [1.49992,-1.78641,1.78641,1.8956e-08]
+ - [1.49992,-1.7772,1.7772,1.47127e-08]
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+ - [1.49992,-1.69728,1.69728,6.3802e-09]
+ - [1.49992,-1.62402,1.62402,2.34751e-09]
+ - [1.49992,-1.5268,1.5268,-1.57083e-09]
+ - [1.49991,-1.40431,1.40431,-5.36931e-09]
+ - [1.49991,-1.2552,1.2552,-9.05757e-09]
+ - [1.36902,-1.08049,1.08049,-1.26567e-08]
+ - [0.887867,-0.888367,0.888367,-1.61929e-08]
+ - [0.318086,-0.689662,0.689662,-1.96944e-08]
+ - [9.14728e-05,-0.490973,0.490973,-2.31887e-08]
+ - [7.29534e-05,-0.292297,0.292297,-2.67008e-08]
+ - [5.26206e-05,-0.0936297,0.0936297,-3.02526e-08]
+ - [3.0709e-05,0.105031,-0.105031,-3.38625e-08]
+ - [7.49217e-06,0.303689,-0.303689,-3.75444e-08]
+ - [-1.67232e-05,0.502347,-0.502347,-4.13078e-08]
+ - [-4.16042e-05,0.701008,-0.701008,-4.51566e-08]
+ - [-6.6799e-05,0.899675,-0.899675,-4.90895e-08]
+ - [-9.19436e-05,1.09835,-1.09835,-5.30997e-08]
+ - [-0.000116668,1.29704,-1.29704,-5.71743e-08]
+ - [-0.0001406,1.49574,-1.49574,-6.12951e-08]
+ - [-0.000163368,1.69446,-1.69446,-6.54382e-08]
+ - [-0.000184599,1.8932,-1.8932,-6.95745e-08]
+ - [-0.000203913,1.9999,-1.9999,-7.36702e-08]
+ - [-0.000220919,1.99991,-1.99991,-7.77176e-08]
+ - [-0.00023534,1.99991,-1.99991,-8.17372e-08]
+info: "ddp_iterations=58;ddp_time=81.538828"
diff --git a/envs/quadrotor_v1/motions/quad3dompl_all.bin.im.bin.sp1.bin.ca.bin.small.msgpack b/envs/quadrotor_v1/motions/quad3dompl_all.bin.im.bin.sp1.bin.ca.bin.small.msgpack
new file mode 100644
index 0000000..297ca35
Binary files /dev/null and b/envs/quadrotor_v1/motions/quad3dompl_all.bin.im.bin.sp1.bin.ca.bin.small.msgpack differ
diff --git a/envs/quadrotor_v1/quad_one_obs.yaml b/envs/quadrotor_v1/quad_one_obs.yaml
new file mode 100644
index 0000000..748ba9b
--- /dev/null
+++ b/envs/quadrotor_v1/quad_one_obs.yaml
@@ -0,0 +1,40 @@
+name: quadrotor_ompl-obstacles
+environment:
+ min: [0, 0, 0]
+ max: [6, 6, 6]
+ obstacles:
+ - type: box
+ center: [3, 3, 3]
+ size: [3, 3, 2]
+robots:
+ - type: quad3d_omplapp
+ start: [
+ 1.,
+ 1.,
+ 3., #p
+ 0,
+ 0,
+ 0,
+ 1, #quat
+ 0,
+ 0,
+ 0, #vel
+ 0,
+ 0,
+ 0, #ang vel
+ ]
+ goal: [
+ 5.,
+ 5.,
+ 3., #p
+ 0,
+ 0,
+ 0,
+ 1, # quat
+ 0,
+ 0,
+ 0, # vel
+ 0,
+ 0,
+ 0, #ang vel
+ ]
diff --git a/envs/quadrotor_v1/quad_one_obs/idbastar_v0_db_solution_v0.yaml b/envs/quadrotor_v1/quad_one_obs/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..fe2333d
--- /dev/null
+++ b/envs/quadrotor_v1/quad_one_obs/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,658 @@
+time_stamp: 1802.48
+cost: 3.18
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [1,1,3,0,0,0,1,0,0,0,0,0,0]
+goal: [5,5,3,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0.394124
+max_collision: 0
+goal_distance: 0.686876
+start_distance: 0.374867
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 319
+states:
+ - [1,1,3,0.223683,0.00302839,-0.472149,0.852662,-9.93537e-08,3.06268e-08,3.47976e-08,1.25155,0.215343,-1.54503]
+ - [1,1,3,0.229492,0.00271971,-0.47849,0.847569,-9.93537e-08,3.06268e-08,-0.0981,0.941962,0.615343,-1.47995]
+ - [1,1,2.99902,0.234926,0.00477188,-0.484048,0.842902,-9.93537e-08,3.06268e-08,-0.1962,0.654646,1.01534,-1.42267]
+ - [1,1,2.99706,0.240098,0.00913749,-0.488846,0.838629,-9.93537e-08,3.06268e-08,-0.2943,0.38483,1.41534,-1.37176]
+ - [1,1,2.99411,0.245097,0.0157778,-0.492891,0.834708,-9.93537e-08,3.06268e-08,-0.3924,0.132388,1.81534,-1.32726]
+ - [1,1,2.99019,0.250003,0.0246533,-0.496185,0.831078,-9.93537e-08,3.06268e-08,-0.4905,-0.10274,2.18218,-1.28722]
+ - [1,1,2.98528,0.254811,0.0355828,-0.498754,0.827678,-9.93537e-08,3.06268e-08,-0.5886,-0.320358,2.48984,-1.25102]
+ - [1,1,2.9794,0.259446,0.0482756,-0.500653,0.824442,-9.93537e-08,3.06268e-08,-0.6867,-0.520646,2.7431,-1.21822]
+ - [1,1,2.97253,0.263842,0.0624607,-0.501932,0.82131,-9.93537e-08,3.06268e-08,-0.7848,-0.703738,2.94634,-1.18854]
+ - [1,1,2.96468,0.26794,0.0778851,-0.50264,0.818227,-9.93537e-08,3.06268e-08,-0.8829,-0.869713,3.10354,-1.16183]
+ - [1,1,2.95585,0.27169,0.0943121,-0.502823,0.815143,-9.93537e-08,3.06268e-08,-0.981,-1.01858,3.2182,-1.13806]
+ - [1,1,2.94604,0.27505,0.11152,-0.502529,0.812019,-9.93537e-08,3.06268e-08,-1.0791,-1.15024,3.29336,-1.11724]
+ - [1,1,2.93525,0.277985,0.129298,-0.501811,0.808821,-9.93537e-08,3.06268e-08,-1.1772,-1.26454,3.33161,-1.09947]
+ - [1,1,2.92348,0.280471,0.147449,-0.500722,0.805526,-9.93537e-08,3.06268e-08,-1.2753,-1.36119,3.33512,-1.08483]
+ - [1,1,2.91073,0.282489,0.165783,-0.499322,0.802118,-1.60981e-07,-8.22078e-07,-1.3734,-1.4398,3.30548,-1.07346]
+ - [1,1,2.89699,0.284028,0.184121,-0.497677,0.79859,-5.81259e-05,-0.00222148,-1.46868,-1.49976,3.24386,-1.06543]
+ - [0.999999,0.999978,2.88231,0.285081,0.202285,-0.495857,0.794944,0.000239762,-0.0189138,-1.54658,-1.54071,3.1518,-1.06081]
+ - [1,0.999789,2.86684,0.28565,0.22011,-0.493939,0.791189,0.00277361,-0.0615128,-1.59545,-1.56244,3.03135,-1.05963]
+ - [1.00003,0.999174,2.85089,0.285744,0.237438,-0.492004,0.787341,0.00988219,-0.133497,-1.61399,-1.56495,2.88544,-1.06186]
+ - [1.00013,0.997839,2.83475,0.285378,0.254128,-0.49013,0.783422,0.0235252,-0.234089,-1.60556,-1.55334,2.72695,-1.06685]
+ - [1.00036,0.995498,2.81869,0.284582,0.270103,-0.488377,0.779452,0.0409526,-0.336543,-1.59948,-1.52435,2.55242,-1.07475]
+ - [1.00077,0.992132,2.8027,0.283387,0.285267,-0.486814,0.775452,0.0620094,-0.440645,-1.59574,-1.47654,2.36229,-1.08547]
+ - [1.00139,0.987726,2.78674,0.281832,0.299526,-0.485515,0.771446,0.0865112,-0.546189,-1.59427,-1.40929,2.15834,-1.09872]
+ - [1.00226,0.982264,2.7708,0.279963,0.312791,-0.484554,0.767457,0.114244,-0.652973,-1.595,-1.25541,1.95838,-1.11276]
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+ - [1.00485,0.968126,2.73887,0.0207591,-0.64815,0.311322,-0.694657,0.144968,-0.760812,-1.69591,1.04666,1.36053,-0.0591419]
+ - [1.0063,0.960518,2.72191,0.0151969,-0.651216,0.315049,-0.690239,0.144968,-0.760812,-1.79401,1.01723,0.96053,-0.459142]
+ - [1.00775,0.95291,2.70397,0.0116678,-0.652876,0.320011,-0.686447,0.144968,-0.760812,-1.89211,1.06849,0.56053,-0.859142]
+ - [1.0092,0.945302,2.68505,0.00990786,-0.653023,0.326471,-0.683286,0.144968,-0.760812,-1.99021,1.19611,0.16053,-1.25914]
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diff --git a/envs/quadrotor_v1/quad_one_obs/idbastar_v0_opt_solution_v0.yaml b/envs/quadrotor_v1/quad_one_obs/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..f903130
--- /dev/null
+++ b/envs/quadrotor_v1/quad_one_obs/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,559 @@
+time_stamp: 2259.54
+cost: 2.68
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [1,1,3,0,0,0,1,0,0,0,0,0,0]
+goal: [5,5,3,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 5.66691e-05
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 269
+states:
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+ - [0.817039,-0.102074,0.0726551,-0.00241526]
+ - [0.796253,-0.0937623,0.0654212,-0.00261147]
+ - [0.77511,-0.0848796,0.05774,-0.00280645]
+ - [0.753616,-0.0754252,0.049609,-0.00300029]
+ - [0.731779,-0.0654001,0.0410277,-0.00319313]
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+ - [0.594347,0.00656219,-0.0196954,-0.00434477]
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+ - [0.546595,0.0349093,-0.0432259,-0.0047347]
+ - [0.522479,0.0498586,-0.0555411,-0.00493216]
+ - [0.498251,0.0653057,-0.0681986,-0.00513146]
+ - [0.473945,0.0812314,-0.0811817,-0.00533258]
+ - [0.449602,0.0976114,-0.0944765,-0.00553534]
+ - [0.42526,0.114416,-0.108074,-0.00573949]
+ - [0.400961,0.131608,-0.121972,-0.00594475]
+ - [0.376743,0.149149,-0.13617,-0.00615098]
+ - [0.352648,0.166997,-0.150671,-0.00635833]
+ - [0.328714,0.185116,-0.16547,-0.00656734]
+ - [0.30498,0.203475,-0.180557,-0.00677883]
+ - [0.281481,0.22205,-0.195912,-0.00699372]
+ - [0.258253,0.240824,-0.211509,-0.00721283]
+ - [0.23533,0.259783,-0.227319,-0.00743674]
+ - [0.212749,0.278914,-0.24331,-0.00766568]
+ - [0.190544,0.298208,-0.259448,-0.00789952]
+ - [0.168752,0.317654,-0.275701,-0.00813783]
+ - [0.147412,0.337241,-0.292041,-0.00837992]
+ - [0.12656,0.356956,-0.308442,-0.00862494]
+ - [0.106233,0.376782,-0.324884,-0.00887203]
+ - [0.0864676,0.396702,-0.341353,-0.00912037]
+ - [0.0672981,0.416694,-0.35784,-0.0093693]
+info: "ddp_iterations=7;ddp_time=19.499736"
diff --git a/envs/quadrotor_v1/quad_one_obs/idbastar_v0_solution_v0.yaml b/envs/quadrotor_v1/quad_one_obs/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..5991f0a
--- /dev/null
+++ b/envs/quadrotor_v1/quad_one_obs/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,507 @@
+time_stamp: 3132.96
+cost: 2.42
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [1,1,3,0,0,0,1,0,0,0,0,0,0]
+goal: [5,5,3,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 8.68548e-05
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0.000141641
+num_states: 243
+states:
+ - [1,1,3,0,0,0,1,0,0,0,0,0,0]
+ - [1,1,3,0,0,0,1,0,0,-0.0980908,-0.103191,0.105499,-5.61872e-05]
+ - [1,1,2.99902,-0.000515956,0.000527494,-2.80936e-07,1,0,0,-0.196182,-0.201325,0.205783,-8.97901e-05]
+ - [1,1,2.99706,-0.00152258,0.00155641,-7.29772e-07,0.999998,9.8305e-09,9.61546e-09,-0.294272,-0.294428,0.300884,-0.000103487]
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+ - [0.0203426,0.300199,-0.291269,-0.000772137]
+ - [9.94477e-05,0.322643,-0.312818,-0.00070088]
+ - [9.85152e-05,0.345221,-0.334464,-0.000619593]
+ - [9.76001e-05,0.367937,-0.356209,-0.000528425]
+ - [9.66999e-05,0.390796,-0.378053,-0.000425315]
+ - [9.58192e-05,0.413797,-0.399991,-0.000309862]
+ - [9.49595e-05,0.436937,-0.422015,-0.00018026]
+ - [9.41221e-05,0.460213,-0.444117,-3.59558e-05]
+ - [9.33085e-05,0.483615,-0.466278,0.000125097]
+ - [9.252e-05,0.507159,-0.488509,0.000303505]
+info: "ddp_iterations=75;ddp_time=173.598498"
diff --git a/envs/quadrotor_v1/quad_one_obs/rrt_to_v0_guess_v0.yaml b/envs/quadrotor_v1/quad_one_obs/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..2833265
--- /dev/null
+++ b/envs/quadrotor_v1/quad_one_obs/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,46 @@
+time_stamp: 3
+cost: 2.8458
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [1,1,3,0,0,0,1,0,0,0,0,0,0]
+goal: [5,5,3,0,0,0,1,0,0,0,0,0,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 8
+states:
+ - [1,1,3,0,0,0,1,0,0,0,0,0,0]
+ - [2.88961,0.725884,1.88168,0.0188655,-0.456971,0.079888,0.885686,0,0,0,0,0,0]
+ - [3.82271,1.07271,0.59413,0.380815,0.257802,-0.497252,0.735703,0,0,0,0,0,0]
+ - [4.85407,1.60845,1.88077,0.379675,0.769278,0.104319,0.503166,0,0,0,0,0,0]
+ - [5.21707,1.98884,3.53511,-0.208683,0.638731,0.597074,0.438151,0,0,0,0,0,0]
+ - [4.58258,3.77516,4.37246,0.162116,0.28373,0.891562,0.31358,0,0,0,0,0,0]
+ - [5.08686,4.23257,3.79111,-0.69498,-0.630502,-0.185239,0.291817,0,0,0,0,0,0]
+ - [5,5,3,0,0,0,1,0,0,0,0,0,0]
+num_actions: 7
+actions:
+ - [1,0,0,0]
+ - [1,0,0,0]
+ - [1,0,0,0]
+ - [1,0,0,0]
+ - [1,0,0,0]
+ - [1,0,0,0]
+ - [1,0,0,0]
+num_times: 8
+times:
+ - 0
+ - 0.553196
+ - 0.96007
+ - 1.39353
+ - 1.8275
+ - 2.34559
+ - 2.5694
+ - 2.8458
diff --git a/envs/quadrotor_v1/quad_one_obs/rrt_to_v0_solution_v0.yaml b/envs/quadrotor_v1/quad_one_obs/rrt_to_v0_solution_v0.yaml
new file mode 100644
index 0000000..0156775
--- /dev/null
+++ b/envs/quadrotor_v1/quad_one_obs/rrt_to_v0_solution_v0.yaml
@@ -0,0 +1,479 @@
+time_stamp: 5.85941e-317
+cost: 2.28
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [1,1,3,0,0,0,1,0,0,0,0,0,0]
+goal: [5,5,3,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.000611669
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0.00402838
+num_states: 229
+states:
+ - [1,1,3,0,0,0,1,0,0,0,0,0,0]
+ - [1,1,3,0,0,0,1,0,0,-0.0980965,-0.112928,0.230894,-0.0584982]
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+ - [1.49992,0.17563,-0.51147,-0.107436]
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+ - [1.49996,-0.486481,0.0945758,9.11586e-07]
+ - [1.49996,-0.462494,0.0585063,7.1574e-07]
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+ - [1.49996,-0.310137,-0.0598098,-5.99108e-07]
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+ - [1.49996,-0.0789607,-0.0992145,-2.48076e-06]
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+ - [1.49993,0.395721,0.632467,3.22583e-06]
+ - [1.49992,0.355158,0.628297,5.71587e-06]
+ - [1.49992,0.313368,0.614354,0.000238759]
+ - [1.49992,0.271781,0.590502,0.0397823]
+ - [1.49991,0.23191,0.557006,0.088045]
+ - [1.49991,0.195191,0.514505,0.130712]
+ - [1.4999,0.162735,0.464186,0.189993]
+ - [1.42121,0.135132,0.407666,0.434897]
+ - [1.24012,0.112458,0.347792,0.525104]
+ - [1.05921,0.0945995,0.28454,0.575706]
+ - [0.883124,0.0786247,0.21964,0.628038]
+ - [0.712184,0.064109,0.154118,0.675843]
+ - [0.554726,0.0506277,0.0885601,0.723347]
+ - [0.417341,0.0389499,0.0232065,0.771244]
+ - [0.306559,0.0284104,-0.0413329,0.819807]
+ - [0.215901,0.019547,-0.104949,0.868532]
+ - [0.144999,0.0114877,-0.167301,0.91771]
+ - [0.0591575,0.00517372,-0.228415,0.967035]
+ - [0.0326839,0.000635328,-0.288228,1.01649]
+ - [0.00241519,-0.00300289,-0.346712,1.06618]
+ - [-0.00080789,-0.00583331,-0.403631,1.11604]
+ - [9.55698e-05,-0.00797694,-0.458984,1.16598]
+ - [9.42406e-05,-0.0092461,-0.512612,1.21589]
+ - [9.30857e-05,-0.00974928,-0.564548,1.26562]
+ - [9.20913e-05,-0.00948566,-0.614772,1.31501]
+ - [9.12425e-05,-0.0084462,-0.663286,1.364]
+ - [9.05228e-05,-0.00661278,-0.710112,1.41258]
+ - [8.99142e-05,-0.00395895,-0.755292,1.46251]
+ - [8.93982e-05,-0.000453746,-0.798885,1.50903]
+ - [-0.00311359,0.00391547,-0.840956,1.55466]
+ - [-0.00402838,0.0084194,-0.881283,1.59934]
+ - [-0.00109825,0.0125335,-0.919608,1.64301]
+ - [-0.00393868,0.0167331,-0.956684,1.68592]
+ - [-0.000360361,0.0203957,-0.992155,1.72811]
+ - [-0.000489695,0.0227917,-1.02576,1.7755]
+ - [-0.000724812,0.0233512,-1.05737,1.80536]
+ - [4.03263e-05,0.0216073,-1.08703,1.88957]
+ - [-0.000956046,0.0173307,-1.11479,1.89766]
+ - [-0.000365014,0.0105576,-1.14054,1.90548]
+info: "ddp_iterations=100;ddp_time=1332.284144"
diff --git a/envs/quadrotor_v1/recovery.yaml b/envs/quadrotor_v1/recovery.yaml
new file mode 100644
index 0000000..5b2333b
--- /dev/null
+++ b/envs/quadrotor_v1/recovery.yaml
@@ -0,0 +1,20 @@
+name: quadrotor_ompl-recovery
+environment:
+ min: [-2, -2, -2] # TODO: add position bounds as constraints?
+ max: [2, 2, 2]
+ obstacles: []
+robots:
+ - type: quad3d_omplapp
+ # self.x0 = np.array([0., 0., 1.,
+ # 0., 0., 0.,
+ # 0.0436194, -0.9990482, 0., 0.,
+ # 0., 0., 0.],
+ # dtype=np.float64)
+ #
+ # self.xf = np.array([0., 0.15 , 1.,
+ # 0., 0., 0.,
+ # 1., 0., 0., 0.,
+ # 0., 0., 0.], dtype=np.float64)
+ start:
+ [0.0, 0.0, 1.0, -0.9990482, 0., 0., 0.0436194, 0., 0., 0., 0., 0., 0.]
+ goal: [0., 0.15, 1., 0., 0., 0., 1., 0., 0., 0., 0., 0., 0.]
diff --git a/envs/quadrotor_v1/recovery/idbastar_v0_db_solution_v0.yaml b/envs/quadrotor_v1/recovery/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..7bc894b
--- /dev/null
+++ b/envs/quadrotor_v1/recovery/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,506 @@
+time_stamp: 159.004
+cost: 2.42
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,1,-0.999048,0,0,0.0436194,0,0,0,0,0,0]
+goal: [0,0.15,1,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0.394977
+max_collision: 0
+goal_distance: 0.778536
+start_distance: 0.390058
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 243
+states:
+ - [-8.62596e-08,-2.10985e-08,1,-0.918098,0.0125607,0.347527,-0.190167,-1.05181e-08,-8.10558e-08,-8.42212e-08,2.24389,-0.230856,2.67648]
+ - [-8.63648e-08,-2.19091e-08,1,-0.919522,0.0289629,0.345848,-0.184474,-1.05181e-08,-8.10558e-08,-0.0981001,2.58644,-0.630856,2.27648]
+ - [-8.64699e-08,-2.27197e-08,0.999019,-0.920346,0.0444785,0.346221,-0.1764,-1.05181e-08,-8.10558e-08,-0.1962,2.90341,-1.03086,1.87648]
+ - [-8.65751e-08,-2.35302e-08,0.997057,-0.920555,0.0590408,0.348607,-0.16603,-1.05181e-08,-8.10558e-08,-0.2943,3.19613,-1.43086,1.47648]
+ - [-8.66803e-08,-2.43408e-08,0.994114,-0.920112,0.072584,0.352961,-0.153441,-1.05181e-08,-8.10558e-08,-0.3924,3.46595,-1.83086,1.07648]
+ - [-8.67855e-08,-2.51513e-08,0.99019,-0.918959,0.085042,0.359227,-0.1387,-1.05181e-08,-8.10558e-08,-0.4905,3.71413,-2.23086,0.67648]
+ - [-8.68907e-08,-2.59619e-08,0.985285,-0.91702,0.0963471,0.367342,-0.121869,-1.05181e-08,-8.10558e-08,-0.5886,3.94192,-2.63086,0.27648]
+ - [-8.69958e-08,-2.67725e-08,0.979399,-0.914198,0.10643,0.377233,-0.103003,-1.05181e-08,-8.10558e-08,-0.6867,4.15047,-3.03086,-0.104088]
+ - [-8.7101e-08,-2.7583e-08,0.972532,-0.910373,0.115307,0.388806,-0.0821903,-1.05181e-08,-8.10558e-08,-0.7848,4.3408,-3.43086,-0.450762]
+ - [-8.72062e-08,-2.83936e-08,0.964684,-0.905397,0.123059,0.401954,-0.0595484,-1.05181e-08,-8.10558e-08,-0.8829,4.51385,-3.83086,-0.765372]
+ - [-8.73114e-08,-2.92041e-08,0.955855,-0.89911,0.129751,0.416565,-0.0351961,-1.05181e-08,-8.10558e-08,-0.981,4.6704,-4.23086,-1.04987]
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+ - [-8.75218e-08,-3.08252e-08,0.935254,-0.881922,0.140153,0.449712,0.0181477,-1.05181e-08,-8.10558e-08,-1.1772,4.93643,-5.03086,-1.53688]
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+ - [-8.81528e-08,-3.56886e-08,0.849907,-0.781985,0.148716,0.569551,0.204927,-1.05181e-08,-8.10558e-08,-1.7658,5.37278,-6.96595,-2.50677]
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+ - [-2.30942e-08,-7.58664e-08,0.81361,-0.776033,-0.183107,0.499161,-0.339238,-0.0202928,0.0131568,-1.96672,5.01325,-6.64809,-2.37343]
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+ - [-0.00121759,0.000789332,0.680892,-0.659707,-0.121921,0.707712,-0.221509,-0.0202928,0.0131568,-2.55532,2.61325,-7.95181,-4.54481]
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diff --git a/envs/quadrotor_v1/recovery/idbastar_v0_opt_solution_v0.yaml b/envs/quadrotor_v1/recovery/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..5de2b0d
--- /dev/null
+++ b/envs/quadrotor_v1/recovery/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,465 @@
+time_stamp: 388.612
+cost: 2.21
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,1,-0.999048,0,0,0.0436194,0,0,0,0,0,0]
+goal: [0,0.15,1,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 8.67429e-05
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 5.21712e-05
+num_states: 222
+states:
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+ - [9.27558e-05,-0.158647,-0.134938,0.096542]
+ - [9.20282e-05,-0.16705,-0.142384,0.097272]
+info: "ddp_iterations=69;ddp_time=111.529871"
diff --git a/envs/quadrotor_v1/recovery/idbastar_v0_solution_v0.yaml b/envs/quadrotor_v1/recovery/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..67ae1da
--- /dev/null
+++ b/envs/quadrotor_v1/recovery/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,439 @@
+time_stamp: 764.175
+cost: 2.08
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,1,-0.999048,0,0,0.0436194,0,0,0,0,0,0]
+goal: [0,0.15,1,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.000126594
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 9.90272e-05
+num_states: 209
+states:
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+ - [9.24502e-05,-0.0955096,-0.0811245,0.105705]
+ - [9.13425e-05,-0.104287,-0.0888059,0.106802]
+ - [9.02383e-05,-0.113054,-0.0965016,0.107901]
+ - [8.91386e-05,-0.121813,-0.10421,0.109002]
+ - [8.80442e-05,-0.130564,-0.11193,0.110104]
+ - [8.69559e-05,-0.139309,-0.119661,0.111208]
+ - [8.58747e-05,-0.148051,-0.127399,0.112315]
+ - [8.48016e-05,-0.15679,-0.135145,0.113424]
+ - [8.37375e-05,-0.165527,-0.142896,0.114534]
+ - [8.26834e-05,-0.174266,-0.15065,0.115648]
+info: "ddp_iterations=81;ddp_time=122.366255"
diff --git a/envs/quadrotor_v1/recovery/rrt_to_v0_guess_v0.yaml b/envs/quadrotor_v1/recovery/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..8a12b37
--- /dev/null
+++ b/envs/quadrotor_v1/recovery/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,28 @@
+time_stamp: 1
+cost: 0.190895
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [0,0,1,-0.999048,0,0,0.0436194,0,0,0,0,0,0]
+goal: [0,0.15,1,0,0,0,1,0,0,0,0,0,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 2
+states:
+ - [0,0,1,-0.999048,0,0,0.0436194,0,0,0,0,0,0]
+ - [0,0.15,1,0,0,0,1,0,0,0,0,0,0]
+num_actions: 1
+actions:
+ - [1,0,0,0]
+num_times: 2
+times:
+ - 0
+ - 0.190895
diff --git a/envs/quadrotor_v1/recovery/rrt_to_v0_solution_v0.yaml b/envs/quadrotor_v1/recovery/rrt_to_v0_solution_v0.yaml
new file mode 100644
index 0000000..dd4fd38
--- /dev/null
+++ b/envs/quadrotor_v1/recovery/rrt_to_v0_solution_v0.yaml
@@ -0,0 +1,423 @@
+time_stamp: 1.32117e-316
+cost: 2
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,1,-0.999048,0,0,0.0436194,0,0,0,0,0,0]
+goal: [0,0.15,1,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.00160612
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0.0096175
+num_states: 201
+states:
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+ - [0,0,1,-0.999048,0,0,0.0436194,0,-1.03919e-06,-0.0980881,0.399989,-0.399986,0.0640268]
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+ - [1.50035,0.10771,0.0857679,-0.0504083]
+ - [1.50253,0.120288,0.0881111,-0.0480833]
+ - [1.50082,0.133234,0.0898525,-0.045617]
+ - [1.50186,0.144889,0.0908826,-0.0430015]
+ - [1.50551,0.156527,0.0913286,-0.0402]
+ - [1.50159,0.168445,0.0912117,-0.0371911]
+ - [1.504,0.179669,0.0905701,-0.0339981]
+ - [1.50274,0.190295,0.0894544,-0.0306021]
+ - [1.50019,0.200933,0.0868207,-0.027923]
+ - [1.4912,0.208791,0.0838047,-0.0246889]
+ - [1.44966,0.215389,0.080718,-0.0210465]
+ - [1.40149,0.221679,0.0776849,-0.0171298]
+ - [1.35896,0.226128,0.0745402,-0.012421]
+ - [1.3174,0.229516,0.0713542,-0.00721526]
+ - [1.27864,0.232798,0.0680709,-0.00151465]
+ - [1.23993,0.233313,0.0646039,0.00455707]
+ - [1.20411,0.23246,0.0607396,0.0110141]
+ - [1.16824,0.232034,0.0565079,0.017726]
+ - [1.13186,0.230436,0.0518043,0.0246654]
+ - [1.09454,0.228179,0.046491,0.0318052]
+ - [1.05582,0.225242,0.0404491,0.0391289]
+ - [1.01467,0.221907,0.0335846,0.0466188]
+ - [0.97246,0.21694,0.0258972,0.0542854]
+ - [0.92917,0.212039,0.0173887,0.0620588]
+ - [0.881567,0.205771,0.00803582,0.0698624]
+ - [0.831634,0.199368,-0.00194102,0.0776804]
+ - [0.778439,0.191601,-0.0124856,0.0854428]
+ - [0.724415,0.18246,-0.0234433,0.0931227]
+ - [0.658648,0.158846,-0.0348898,0.100584]
+ - [0.600826,0.124721,-0.0443925,0.108196]
+ - [0.563613,0.0863194,-0.0544527,0.115598]
+ - [0.477407,0.130223,-0.0718785,0.122218]
+ - [0.423752,0.105474,-0.0779771,0.129736]
+ - [0.385341,0.0310978,-0.0875852,0.136907]
+ - [0.309303,0.0176792,-0.102855,0.144561]
+ - [0.283378,0.0486104,-0.105637,0.152204]
+ - [0.235371,-0.021212,-0.122922,0.158458]
+ - [0.172053,-0.0380665,-0.137201,0.164864]
+ - [0.148982,-0.0590499,-0.130509,0.172851]
+ - [0.113094,-0.0756366,-0.143531,0.179017]
+ - [0.0740798,-0.0922209,-0.152521,0.184925]
+ - [0.0316974,-0.108347,-0.154291,0.191101]
+ - [-0.0096175,-0.123836,-0.148423,0.19747]
+ - [-0.00806354,-0.138278,-0.135301,0.203927]
+ - [-0.00803054,-0.150877,-0.114485,0.210389]
+ - [-0.00838247,-0.160393,-0.0889448,0.216833]
+ - [-0.000801391,-0.1705,-0.0664757,0.223003]
+ - [-0.0037075,-0.169997,-0.0350901,0.229272]
+ - [-0.00171597,-0.176857,-0.0202528,0.235034]
+ - [-0.00259253,-0.170378,0.00887104,0.241277]
+ - [-0.000294595,-0.174003,0.032368,0.247104]
+ - [-0.0012936,-0.169151,0.0448969,0.252825]
+ - [-0.00473659,-0.174633,0.05787,0.258416]
+ - [-0.000844824,-0.141902,0.0659133,0.26374]
+ - [-0.00108405,-0.160839,0.0605648,0.268746]
+ - [-0.00292885,-0.150183,0.0359172,0.273642]
+ - [-0.00662971,-0.120774,-0.00462661,0.278234]
+ - [-0.00060228,-0.131437,-0.0555441,0.282697]
+ - [7.51434e-05,-0.143075,-0.107394,0.28722]
+info: "ddp_iterations=100;ddp_time=327.969696"
diff --git a/envs/quadrotor_v1/recovery_with_obs.yaml b/envs/quadrotor_v1/recovery_with_obs.yaml
new file mode 100644
index 0000000..19d926c
--- /dev/null
+++ b/envs/quadrotor_v1/recovery_with_obs.yaml
@@ -0,0 +1,23 @@
+name: quadrotor_ompl-recovery_with_obstacles
+environment:
+ min: [-2, -2, -3] # TODO: add position bounds as constraints?
+ max: [2, 2, 3]
+ obstacles:
+ - type: box
+ center: [.25, .25, 1.5]
+ size: [1.5, 1.5, .3]
+robots:
+ - type: quad3d_omplapp
+ # self.x0 = np.array([0., 0., 1.,
+ # 0., 0., 0.,
+ # 0.0436194, -0.9990482, 0., 0.,
+ # 0., 0., 0.],
+ # dtype=np.float64)
+ #
+ # self.xf = np.array([0., 0.15 , 1.,
+ # 0., 0., 0.,
+ # 1., 0., 0., 0.,
+ # 0., 0., 0.], dtype=np.float64)
+ start:
+ [0.0, 0.0, 0.8, -0.9990482, 0., 0., 0.0436194, 0., 0., 0., 0., 0., 0.]
+ goal: [0., 00, 2.5, 0., 0., 0., 1., 0., 0., 0., 0., 0., 0.]
diff --git a/envs/quadrotor_v1/recovery_with_obs/idbastar_v0_db_solution_v0.yaml b/envs/quadrotor_v1/recovery_with_obs/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..31853d8
--- /dev/null
+++ b/envs/quadrotor_v1/recovery_with_obs/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,644 @@
+time_stamp: 2335.82
+cost: 3.11
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0.8,-0.999048,0,0,0.0436194,0,0,0,0,0,0]
+goal: [0,0,2.5,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0.394977
+max_collision: 0
+goal_distance: 0.777035
+start_distance: 0.390058
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 312
+states:
+ - [-2.63292e-09,-3.08694e-09,0.8,-0.918098,0.0125607,0.347527,-0.190167,-3.88796e-08,-5.44048e-08,7.87214e-08,2.24389,-0.230856,2.67648]
+ - [-3.02171e-09,-3.63099e-09,0.8,-0.919522,0.0289628,0.345848,-0.184474,-3.88796e-08,-5.44048e-08,-0.0980999,2.58644,-0.630856,2.27648]
+ - [-3.41051e-09,-4.17503e-09,0.799019,-0.920346,0.0444784,0.346221,-0.1764,-3.88796e-08,-5.44048e-08,-0.1962,2.90341,-1.03086,1.87648]
+ - [-3.79931e-09,-4.71908e-09,0.797057,-0.920555,0.0590407,0.348607,-0.16603,-3.88796e-08,-5.44048e-08,-0.2943,3.19613,-1.43086,1.47648]
+ - [-4.1881e-09,-5.26313e-09,0.794114,-0.920112,0.072584,0.352961,-0.153441,-3.88796e-08,-5.44048e-08,-0.3924,3.46595,-1.83086,1.07648]
+ - [-4.5769e-09,-5.80718e-09,0.79019,-0.918959,0.0850419,0.359227,-0.1387,-3.88796e-08,-5.44048e-08,-0.4905,3.71413,-2.23086,0.67648]
+ - [-4.96569e-09,-6.35123e-09,0.785285,-0.91702,0.096347,0.367342,-0.121869,-3.88796e-08,-5.44048e-08,-0.5886,3.94192,-2.63086,0.27648]
+ - [-5.35449e-09,-6.89527e-09,0.779399,-0.914198,0.10643,0.377233,-0.103003,-3.88796e-08,-5.44048e-08,-0.6867,4.15047,-3.03086,-0.104088]
+ - [-5.74328e-09,-7.43932e-09,0.772532,-0.910373,0.115307,0.388806,-0.0821902,-3.88796e-08,-5.44048e-08,-0.7848,4.3408,-3.43086,-0.450762]
+ - [-6.13208e-09,-7.98337e-09,0.764684,-0.905397,0.123059,0.401954,-0.0595484,-3.88796e-08,-5.44048e-08,-0.8829,4.51385,-3.83086,-0.765372]
+ - [-6.52088e-09,-8.52742e-09,0.755855,-0.89911,0.12975,0.416565,-0.035196,-3.88796e-08,-5.44048e-08,-0.981,4.6704,-4.23086,-1.04987]
+ - [-6.90967e-09,-9.07147e-09,0.746045,-0.891344,0.135436,0.432525,-0.009255,-3.88796e-08,-5.44048e-08,-1.0791,4.81109,-4.63086,-1.30632]
+ - [-7.29847e-09,-9.61552e-09,0.735254,-0.881922,0.140153,0.449712,0.0181477,-3.88796e-08,-5.44048e-08,-1.1772,4.93643,-5.03086,-1.53688]
+ - [-7.68726e-09,-1.01596e-08,0.723482,-0.870668,0.143928,0.468001,0.0468787,-3.88796e-08,-5.44048e-08,-1.2753,5.04676,-5.43086,-1.74382]
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+ - [-8.46485e-09,-1.12477e-08,0.696995,-0.841956,0.148667,0.507345,0.107751,-3.88796e-08,-5.44048e-08,-1.4715,5.22289,-6.21062,-2.09616]
+ - [-8.85365e-09,-1.17917e-08,0.68228,-0.824211,0.149615,0.528027,0.139568,-3.88796e-08,-5.44048e-08,-1.5696,5.2885,-6.52668,-2.24635]
+ - [-9.24244e-09,-1.23358e-08,0.666584,-0.804197,0.149624,0.548894,0.172033,-3.88796e-08,-5.44048e-08,-1.6677,5.33867,-6.77856,-2.38242]
+ - [-9.63124e-09,-1.28798e-08,0.649907,-0.781985,0.148716,0.569551,0.204927,-3.88796e-08,-5.44048e-08,-1.7658,5.37278,-6.96595,-2.50677]
+ - [-1.002e-08,-1.34239e-08,0.632249,-0.757697,0.146922,0.589621,0.238026,-3.88796e-08,-5.44048e-08,-1.8639,5.39,-7.08868,-2.62174]
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diff --git a/envs/quadrotor_v1/recovery_with_obs/idbastar_v0_opt_solution_v0.yaml b/envs/quadrotor_v1/recovery_with_obs/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..73cfc0d
--- /dev/null
+++ b/envs/quadrotor_v1/recovery_with_obs/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,653 @@
+time_stamp: 2972.02
+cost: 3.15
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0.8,-0.999048,0,0,0.0436194,0,0,0,0,0,0]
+goal: [0,0,2.5,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.000144788
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 4.69567e-05
+num_states: 316
+states:
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+ - [0.807186,0.580873,-0.113602,0.0146592]
+ - [0.776897,0.6764,-0.125317,0.0153658]
+ - [0.748116,0.775763,-0.137357,0.0161348]
+ - [0.721565,0.878908,-0.149712,0.0169603]
+ - [0.698025,0.985788,-0.162371,0.0178353]
+ - [0.678333,1.09637,-0.175329,0.0187515]
+ - [0.663386,1.21064,-0.188581,0.0196989]
+ - [0.65414,1.32862,-0.202129,0.0206663]
+info: "ddp_iterations=42;ddp_time=140.719072"
diff --git a/envs/quadrotor_v1/recovery_with_obs/idbastar_v0_solution_v0.yaml b/envs/quadrotor_v1/recovery_with_obs/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..bedcb7a
--- /dev/null
+++ b/envs/quadrotor_v1/recovery_with_obs/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,625 @@
+time_stamp: 4361.37
+cost: 3.01
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0.8,-0.999048,0,0,0.0436194,0,0,0,0,0,0]
+goal: [0,0,2.5,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.000182864
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 8.29504e-05
+num_states: 302
+states:
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+ - [0,0,0.8,-0.999048,0,0,0.0436194,0,-7.09224e-07,-0.0980919,0.399984,-0.399985,-0.0276327]
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+ - [0.716737,0.769812,-0.157174,0.0277211]
+ - [0.675384,0.886789,-0.173381,0.0286664]
+ - [0.637013,1.00777,-0.189951,0.0296818]
+ - [0.602735,1.13263,-0.206874,0.0307587]
+ - [0.573737,1.26124,-0.224142,0.0318865]
+ - [0.551293,1.39353,-0.241752,0.0330528]
+ - [0.536754,1.52946,-0.259707,0.0342432]
+info: "ddp_iterations=39;ddp_time=107.729140"
diff --git a/envs/quadrotor_v1/recovery_with_obs/rrt_to_v0_guess_v0.yaml b/envs/quadrotor_v1/recovery_with_obs/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..349c1fd
--- /dev/null
+++ b/envs/quadrotor_v1/recovery_with_obs/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,34 @@
+time_stamp: 5
+cost: 0.854884
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [0,0,0.8,-0.999048,0,0,0.0436194,0,0,0,0,0,0]
+goal: [0,0,2.5,0,0,0,1,0,0,0,0,0,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 4
+states:
+ - [0,0,0.8,-0.999048,0,0,0.0436194,0,0,0,0,0,0]
+ - [0.797479,-1.05981,1.29047,-0.68258,0.168716,0.213856,-0.678149,0,0,0,0,0,0]
+ - [0.523738,-0.453767,2.4161,-0.86018,0.284005,0.259364,-0.334905,0,0,0,0,0,0]
+ - [0,0,2.5,0,0,0,1,0,0,0,0,0,0]
+num_actions: 3
+actions:
+ - [1,0,0,0]
+ - [1,0,0,0]
+ - [1,0,0,0]
+num_times: 4
+times:
+ - 0
+ - 0.353529
+ - 0.680377
+ - 0.854884
diff --git a/envs/quadrotor_v1/recovery_with_obs/rrt_to_v0_solution_v0.yaml b/envs/quadrotor_v1/recovery_with_obs/rrt_to_v0_solution_v0.yaml
new file mode 100644
index 0000000..59eff22
--- /dev/null
+++ b/envs/quadrotor_v1/recovery_with_obs/rrt_to_v0_solution_v0.yaml
@@ -0,0 +1,865 @@
+time_stamp: 1.54484e-316
+cost: 4.21
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0,0,0.8,-0.999048,0,0,0.0436194,0,0,0,0,0,0]
+goal: [0,0,2.5,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 2.17943e-05
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0.0024798
+num_states: 422
+states:
+ - [0,0,0.8,-0.999048,0,0,0.0436194,0,0,0,0,0,0]
+ - [0,0,0.8,-0.999048,0,0,0.0436194,0,1.3565e-07,-0.0981016,-0.333576,-0.399981,0.0561998]
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+ - [1.13748,-0.000381608,0.242224,0.83915]
+ - [1.13745,0.00481656,0.245397,0.860538]
+ - [1.13764,0.00889158,0.248638,0.881767]
+ - [1.13805,0.0117792,0.251856,0.902837]
+ - [1.13865,0.0134254,0.254959,0.923748]
+ - [1.13941,0.0137809,0.257864,0.944501]
+ - [1.14032,0.0128036,0.260488,0.965094]
+ - [1.14135,0.0104581,0.26276,0.985524]
+ - [1.14246,0.00671318,0.264613,1.00579]
+ - [1.14365,0.00154065,0.265988,1.02588]
+ - [1.14488,-0.00508538,0.266834,1.04579]
+ - [1.14615,-0.0131901,0.267109,1.06551]
+ - [1.14743,-0.0227989,0.266779,1.08503]
+ - [1.14873,-0.0339402,0.265819,1.10434]
+ - [1.15002,-0.0466472,0.264214,1.12342]
+ - [1.15131,-0.0609614,0.261962,1.14227]
+ - [1.1526,-0.0769358,0.259072,1.16085]
+ - [1.1539,-0.09464,0.255572,1.17917]
+ - [1.15523,-0.114161,0.251508,1.1972]
+ - [1.1566,-0.135603,0.246941,1.21491]
+ - [1.15805,-0.159075,0.241946,1.2323]
+ - [1.1596,-0.184687,0.236606,1.24933]
+ - [1.1613,-0.212542,0.23101,1.26599]
+ - [1.1632,-0.242724,0.225252,1.28224]
+info: "ddp_iterations=100;ddp_time=1958.529541"
diff --git a/envs/quadrotor_v1/window.yaml b/envs/quadrotor_v1/window.yaml
new file mode 100644
index 0000000..dbe98da
--- /dev/null
+++ b/envs/quadrotor_v1/window.yaml
@@ -0,0 +1,53 @@
+name: quadrotor_ompl-window
+environment:
+ min: [1, 0.5, 1]
+ max: [5, 5.5, 3]
+ obstacles:
+ - type: box
+ center: [4, 3, 2]
+ size: [2, .3, 2]
+ - type: box
+ center: [1.1, 3, 1.9]
+ size: [.2, .3, 1]
+ # horizontal
+ - type: box
+ center: [2, 3, 2.7]
+ size: [2, .3, .6]
+ # horizontal
+ - type: box
+ center: [2, 3, 1.2]
+ size: [2, .3, .4]
+robots:
+ - type: quad3d_omplapp
+ start: [
+ 4.,
+ 1.,
+ 2., #p
+ 0,
+ 0,
+ 0,
+ 1, #quat
+ 0,
+ 0,
+ 0, #vel
+ 0,
+ 0,
+ 0, #ang vel
+ ]
+
+ goal: [
+ # 4.19647, 2.42183, 2.08445,
+ 4.,
+ 5.,
+ 2., #p
+ 0,
+ 0,
+ 0,
+ 1, # quat
+ 0,
+ 0,
+ 0, # vel
+ 0,
+ 0,
+ 0, #ang vel
+ ]
diff --git a/envs/quadrotor_v1/window/idbastar_v0_db_solution_v0.yaml b/envs/quadrotor_v1/window/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..2c27a81
--- /dev/null
+++ b/envs/quadrotor_v1/window/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,634 @@
+time_stamp: 2696.7
+cost: 3.06
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [4,1,2,0,0,0,1,0,0,0,0,0,0]
+goal: [4,5,2,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0.397137
+max_collision: 0
+goal_distance: 0.767216
+start_distance: 0.380938
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 307
+states:
+ - [4,1,2,0.125794,-0.297686,0.0471024,0.945167,9.19922e-08,-4.4514e-09,-8.28919e-08,-3.17065,0.416844,2.86237]
+ - [4,1,2,0.106424,-0.298194,0.0561608,0.94689,9.19922e-08,-4.4514e-09,-0.0981001,-3.06179,0.595374,2.69663]
+ - [4,1,1.99902,0.0877191,-0.297607,0.0646671,0.948448,9.19922e-08,-4.4514e-09,-0.1962,-2.95039,0.766458,2.53726]
+ - [4,1,1.99706,0.0696882,-0.295981,0.0726321,0.949876,9.19922e-08,-4.4514e-09,-0.2943,-2.8367,0.92985,2.38407]
+ - [4,1,1.99411,0.052338,-0.293372,0.0800672,0.951201,9.19922e-08,-4.4514e-09,-0.3924,-2.72097,1.08532,2.23684]
+ - [4,1,1.99019,0.0356736,-0.289835,0.0869843,0.952448,9.19922e-08,-4.4514e-09,-0.4905,-2.60342,1.23268,2.09535]
+ - [4,1,1.98529,0.019698,-0.285425,0.0933958,0.953636,9.19922e-08,-4.4514e-09,-0.5886,-2.48432,1.37173,1.95941]
+ - [4,1,1.9794,0.00441323,-0.280195,0.0993141,0.954782,-0.00114379,-0.000192275,-0.684931,-2.3639,1.50232,1.82883]
+ - [3.99999,0.999998,1.97255,-0.0101799,-0.274198,0.104752,0.955897,-0.00532032,-0.000693311,-0.77644,-2.24243,1.62431,1.7034]
+ - [3.99994,0.999991,1.96479,-0.0240817,-0.267487,0.109722,0.956991,-0.0124214,-0.00120577,-0.86308,-2.12018,1.73761,1.58295]
+ - [3.99981,0.999979,1.95615,-0.0372935,-0.260112,0.114238,0.958071,-0.0223202,-0.00144702,-0.944804,-1.99745,1.84214,1.46728]
+ - [3.99959,0.999965,1.94671,-0.0498175,-0.252124,0.118312,0.959142,-0.0348716,-0.00114916,-1.02156,-1.87451,1.93787,1.35623]
+ - [3.99924,0.999953,1.93649,-0.061657,-0.243573,0.121956,0.960207,-0.0499131,-5.90505e-05,-1.09331,-1.75166,2.0248,1.24961]
+ - [3.99874,0.999953,1.92556,-0.0728162,-0.234509,0.125185,0.961266,-0.0672657,0.00206138,-1.16001,-1.62921,2.10296,1.14727]
+ - [3.99807,0.999973,1.91396,-0.0833003,-0.224979,0.12801,0.96232,-0.0867349,0.0054348,-1.22161,-1.50746,2.17239,1.04904]
+ - [3.9972,1.00003,1.90174,-0.0931153,-0.215032,0.130444,0.963367,-0.108111,0.010268,-1.27808,-1.38668,2.23319,0.954773]
+ - [3.99612,1.00013,1.88896,-0.102268,-0.204714,0.132499,0.964405,-0.131173,0.0167515,-1.32937,-1.26719,2.28549,0.86431]
+ - [3.99481,1.0003,1.87567,-0.110768,-0.194072,0.134189,0.965433,-0.155684,0.0250589,-1.37546,-1.14924,2.32943,0.777508]
+ - [3.99325,1.00055,1.86191,-0.118622,-0.18315,0.135524,0.966446,-0.1814,0.035346,-1.41633,-1.03312,2.36519,0.694228]
+ - [3.99144,1.0009,1.84775,-0.125842,-0.171993,0.136518,0.967442,-0.208067,0.0477512,-1.45195,-0.919096,2.39297,0.614335]
+ - [3.98936,1.00138,1.83323,-0.132439,-0.160644,0.137182,0.968419,-0.235422,0.0623939,-1.48231,-0.807405,2.41301,0.537697]
+ - [3.987,1.002,1.81841,-0.138424,-0.149145,0.137527,0.969371,-0.263197,0.0793748,-1.50741,-0.698283,2.42555,0.464189]
+ - [3.98437,1.0028,1.80333,-0.143811,-0.137535,0.137566,0.970298,-0.291122,0.0987758,-1.52724,-0.591952,2.43088,0.393691]
+ - [3.98146,1.00378,1.78806,-0.148614,-0.125855,0.13731,0.971195,-0.318922,0.120659,-1.54181,-0.488613,2.42928,0.326086]
+ - [3.97827,1.00499,1.77264,-0.152848,-0.114143,0.13677,0.972061,-0.346325,0.145068,-1.55114,-0.388451,2.42108,0.261261]
+ - [3.97481,1.00644,1.75713,-0.156529,-0.102433,0.135958,0.972893,-0.373058,0.172026,-1.55525,-0.291633,2.40659,0.19911]
+ - [3.97108,1.00816,1.74158,-0.159674,-0.0907613,0.134883,0.97369,-0.398855,0.201538,-1.55416,-0.198307,2.38618,0.139529]
+ - [3.96709,1.01018,1.72604,-0.1623,-0.0791604,0.133558,0.974451,-0.423452,0.233592,-1.54791,-0.108604,2.36019,0.0824177]
+ - [3.96285,1.01251,1.71056,-0.164427,-0.0676613,0.131992,0.975174,-0.446595,0.268156,-1.53655,-0.022631,2.329,0.0276807]
+ - [3.95839,1.0152,1.69519,-0.166072,-0.0562933,0.130196,0.975859,-0.468037,0.305183,-1.52011,0.0595204,2.29297,-0.0247739]
+ - [3.95371,1.01825,1.67999,-0.167257,-0.0450836,0.128179,0.976505,-0.487543,0.344609,-1.49864,0.13778,2.25251,-0.0750343]
+ - [3.94883,1.02169,1.665,-0.168,-0.0340575,0.125952,0.977114,-0.504889,0.386354,-1.47221,0.212098,2.20799,-0.123186]
+ - [3.94378,1.02556,1.65028,-0.168323,-0.0232382,0.123524,0.977686,-0.519862,0.430325,-1.44087,0.282442,2.15981,-0.169309]
+ - [3.93858,1.02986,1.63587,-0.168246,-0.012647,0.120904,0.978221,-0.532265,0.476417,-1.40467,0.348799,2.10835,-0.213483]
+ - [3.93326,1.03462,1.62183,-0.167792,-0.00230305,0.118101,0.97872,-0.541893,0.524403,-1.364,0.411169,2.05402,-0.255783]
+ - [3.92784,1.03987,1.60819,-0.16698,0.00777666,0.115124,0.979185,-0.548388,0.572654,-1.32324,0.469578,1.99719,-0.29628]
+ - [3.92236,1.04559,1.59495,-0.165833,0.0175771,0.111982,0.979617,-0.551804,0.621037,-1.28241,0.524064,1.93821,-0.335046]
+ - [3.91684,1.05181,1.58213,-0.164373,0.0270852,0.108682,0.980018,-0.552202,0.669426,-1.24154,0.574676,1.87745,-0.372145]
+ - [3.91132,1.0585,1.56971,-0.162619,0.0362898,0.105232,0.98039,-0.549648,0.7177,-1.20066,0.621478,1.81522,-0.407644]
+ - [3.90582,1.06568,1.55771,-0.23902,0.113777,0.199618,0.943439,-0.544213,0.765745,-1.15978,-2.72472,4.75356,-1.4186]
+ - [3.90038,1.07333,1.54611,-0.257326,0.131738,0.188717,0.938517,-0.526665,0.838794,-1.13135,-2.32472,4.35356,-1.56039]
+ - [3.89511,1.08172,1.5348,-0.273283,0.14792,0.177262,0.933817,-0.50457,0.917185,-1.1069,-1.92472,3.95356,-1.67807]
+ - [3.89007,1.09089,1.52373,-0.286938,0.162338,0.165401,0.929492,-0.478175,1.00001,-1.08627,-1.52472,3.55356,-1.77341]
+ - [3.88528,1.10089,1.51287,-0.298337,0.17501,0.153262,0.925677,-0.447735,1.0864,-1.06921,-1.12472,3.15356,-1.84827]
+ - [3.88081,1.11176,1.50217,-0.307521,0.185955,0.14096,0.922487,-0.413514,1.17557,-1.05536,-0.72472,2.75356,-1.90454]
+ - [3.87667,1.12351,1.49162,-0.31453,0.195188,0.128595,0.920019,-0.375786,1.26677,-1.04432,-0.32472,2.35356,-1.94409]
+ - [3.87291,1.13618,1.48118,-0.319397,0.202726,0.116253,0.918353,-0.33484,1.35932,-1.0356,0.0752801,1.95356,-1.96878]
+ - [3.86957,1.14977,1.47082,-0.322152,0.208576,0.104006,0.91755,-0.290977,1.45258,-1.02867,0.47528,1.55356,-1.98036]
+ - [3.86666,1.1643,1.46053,-0.322818,0.212743,0.0919145,0.91765,-0.244515,1.54596,-1.02296,0.87528,1.15356,-1.98051]
+ - [3.86421,1.17976,1.4503,-0.321414,0.215225,0.0800278,0.918676,-0.195793,1.63889,-1.0179,1.27528,0.75356,-1.97077]
+ - [3.86225,1.19615,1.44013,-0.317955,0.216014,0.0683861,0.920634,-0.145173,1.73086,-1.01289,1.67528,0.35356,-1.95254]
+ - [3.8608,1.21346,1.43,-0.312446,0.215092,0.0570213,0.923505,-0.0930453,1.82136,-1.00732,2.07528,-0.0292259,-1.92709]
+ - [3.85987,1.23167,1.41992,-0.304897,0.212516,0.0459313,0.927235,-0.0398294,1.90989,-1.00062,2.47528,-0.36166,-1.8955]
+ - [3.85947,1.25077,1.40992,-0.295315,0.208492,0.0350594,0.931714,0.0140418,1.99596,-0.992219,2.87528,-0.6478,-1.85875]
+ - [3.85961,1.27073,1.39999,-0.2837,0.203203,0.0243547,0.936819,0.0681641,2.07909,-0.981628,3.27528,-0.8914,-1.81768]
+ - [3.86029,1.29152,1.39018,-0.270045,0.19681,0.0137733,0.942418,0.122155,2.15876,-0.968417,3.61742,-1.09626,-1.77308]
+ - [3.86152,1.31311,1.38049,-0.254611,0.189458,0.00333663,0.948298,0.175646,2.23446,-0.952229,3.90307,-1.26587,-1.72564]
+ - [3.86327,1.33545,1.37097,-0.237656,0.181277,-0.00693127,0.954259,0.228271,2.3057,-0.932821,4.1359,-1.40353,-1.67598]
+ - [3.86556,1.35851,1.36164,-0.219427,0.172397,-0.017006,0.960126,0.279665,2.37207,-0.910064,4.31957,-1.51234,-1.62466]
+ - [3.86835,1.38223,1.35254,-0.200156,0.162937,-0.0268636,0.965747,0.329477,2.43321,-0.883931,4.45772,-1.59525,-1.57214]
+ - [3.87165,1.40656,1.3437,-0.180066,0.153012,-0.0364808,0.970996,0.377369,2.48881,-0.854484,4.55395,-1.65499,-1.51884]
+ - [3.87542,1.43145,1.33516,-0.159365,0.142731,-0.045836,0.975771,0.423028,2.53863,-0.821867,4.61181,-1.69415,-1.46511]
+ - [3.87965,1.45684,1.32694,-0.138248,0.132195,-0.0549093,0.979998,0.466166,2.58247,-0.786287,4.63474,-1.71513,-1.41122]
+ - [3.88431,1.48266,1.31908,-0.116899,0.121501,-0.0636831,0.983624,0.506527,2.6202,-0.748005,4.62612,-1.72015,-1.35742]
+ - [3.88938,1.50886,1.3116,-0.0954832,0.110736,-0.0721422,0.986618,0.54389,2.65177,-0.707321,4.58919,-1.71127,-1.30388]
+ - [3.89482,1.53538,1.30452,-0.0741551,0.0999819,-0.0802743,0.98897,0.578071,2.67714,-0.664563,4.52707,-1.69038,-1.25077]
+ - [3.9006,1.56215,1.29788,-0.0530523,0.0893124,-0.0880697,0.990683,0.608923,2.69636,-0.620074,4.44274,-1.65924,-1.19819]
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+ - [3.94054,1.72475,1.26772,0.0629882,0.0302531,-0.127562,0.989366,0.720546,2.6899,-0.335497,3.61815,-1.33587,-0.897173]
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+ - [3.97689,1.85685,1.25564,0.139147,-0.00871596,-0.151258,0.978613,0.721125,2.54936,-0.104756,2.74592,-0.99859,-0.666894]
+ - [3.9841,1.88234,1.25459,0.15184,-0.0152136,-0.155079,0.976045,0.71242,2.50967,-0.0614265,2.57043,-0.931853,-0.623008]
+ - [3.99122,1.90744,1.25397,0.163694,-0.0212797,-0.158616,0.973444,0.70112,2.46675,-0.0192299,2.3972,-0.866321,-0.579815]
+ - [3.99824,1.9321,1.25378,0.174722,-0.0269209,-0.161878,0.970846,0.687383,2.42085,0.0218009,2.22709,-0.802284,-0.537305]
+ - [4.00511,1.95631,1.254,0.184943,-0.0321464,-0.164876,0.968286,0.671367,2.37221,0.0616532,2.06083,-0.739981,-0.495465]
+ - [4.01182,1.98004,1.25462,0.194378,-0.0369676,-0.167617,0.965792,0.653232,2.32107,0.100333,1.89908,-0.679608,-0.454287]
+ - [4.01836,2.00325,1.25562,0.203053,-0.0413975,-0.170111,0.963389,0.633136,2.26764,0.137861,1.74235,-0.621321,-0.41376]
+ - [4.02469,2.02592,1.257,0.210993,-0.0454503,-0.172367,0.961096,0.611233,2.21214,0.174273,1.59109,-0.565238,-0.373879]
+ - [4.0308,2.04804,1.25874,0.218229,-0.0491416,-0.174392,0.958931,0.587675,2.15477,0.209613,1.44566,-0.511448,-0.334634]
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diff --git a/envs/quadrotor_v1/window/idbastar_v0_opt_solution_v0.yaml b/envs/quadrotor_v1/window/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..afc8f2f
--- /dev/null
+++ b/envs/quadrotor_v1/window/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,533 @@
+time_stamp: 3289.97
+cost: 2.55
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [4,1,2,0,0,0,1,0,0,0,0,0,0]
+goal: [4,5,2,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 6.4487e-05
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 256
+states:
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+ - [1.24861,-0.146368,0.32684,-0.0154249]
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+ - [1.19444,-0.00577453,0.129406,-0.0179343]
+ - [1.18216,0.0126641,0.100975,-0.0184929]
+ - [1.1687,0.0322804,0.0704043,-0.0191231]
+ - [1.1541,0.0530981,0.0376421,-0.0198277]
+ - [1.13844,0.0751385,0.00263941,-0.0206095]
+ - [1.12178,0.0984204,-0.034648,-0.0214705]
+ - [1.10425,0.12296,-0.0742598,-0.0224123]
+ - [1.08595,0.14877,-0.116231,-0.0234361]
+ - [1.06704,0.175863,-0.160592,-0.0245422]
+ - [1.04768,0.204247,-0.207369,-0.0257306]
+ - [1.02805,0.233928,-0.256582,-0.0270003]
+ - [1.00836,0.264911,-0.30825,-0.0283495]
+ - [0.988831,0.297198,-0.362386,-0.0297757]
+ - [0.969727,0.330791,-0.419001,-0.0312755]
+ - [0.951316,0.365689,-0.478104,-0.0328443]
+ - [0.933891,0.401892,-0.539702,-0.0344768]
+ - [0.91777,0.4394,-0.603804,-0.0361666]
+ - [0.903289,0.478212,-0.670416,-0.0379059]
+ - [0.890803,0.518329,-0.73955,-0.0396863]
+ - [0.880687,0.559754,-0.811219,-0.0414976]
+ - [0.873336,0.602494,-0.885439,-0.0433287]
+info: "ddp_iterations=21;ddp_time=99.095693"
diff --git a/envs/quadrotor_v1/window/idbastar_v0_solution_v0.yaml b/envs/quadrotor_v1/window/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..b24f49f
--- /dev/null
+++ b/envs/quadrotor_v1/window/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,459 @@
+time_stamp: 4049.4
+cost: 2.18
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [4,1,2,0,0,0,1,0,0,0,0,0,0]
+goal: [4,5,2,0,0,0,1,0,0,0,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.000116574
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 5.13474e-05
+num_states: 219
+states:
+ - [4,1,2,0,0,0,1,0,0,0,0,0,0]
+ - [4,1,2,0,0,0,1,0,0,-0.0273852,-0.173066,-0.265117,0.0165044]
+ - [4,1,1.99973,-0.000865332,-0.00132558,8.25218e-05,0.999999,0,0,-0.0546313,-0.333767,-0.506921,0.0320415]
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+ - [0.712398,0.849635,-1.21367,-0.140448]
+ - [0.694124,0.913115,-1.33029,-0.146891]
+info: "ddp_iterations=17;ddp_time=70.040744"
diff --git a/envs/unicycle1_v0/bugtrap_0/idbastar_v0_db_solution_v0.yaml b/envs/unicycle1_v0/bugtrap_0/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..bbc7ca0
--- /dev/null
+++ b/envs/unicycle1_v0/bugtrap_0/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,518 @@
+time_stamp: 1926.16
+cost: 24.8
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [3.8,3,0]
+goal: [5.2,3,0]
+max_jump: 0.148523
+max_collision: 0
+goal_distance: 0.178687
+start_distance: 0.00667453
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 249
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diff --git a/envs/unicycle1_v0/bugtrap_0/idbastar_v0_opt_solution_v0.yaml b/envs/unicycle1_v0/bugtrap_0/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..83dc7c5
--- /dev/null
+++ b/envs/unicycle1_v0/bugtrap_0/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,475 @@
+time_stamp: 4809.11
+cost: 22.6
+feasible: 1
+traj_feas: 1
+goal_feas: 1
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+goal_distance: 6.09047e-05
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+info: "ddp_iterations=50;ddp_time=991.648831"
diff --git a/envs/unicycle1_v0/bugtrap_0/idbastar_v0_solution_v0.yaml b/envs/unicycle1_v0/bugtrap_0/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..96d6b0b
--- /dev/null
+++ b/envs/unicycle1_v0/bugtrap_0/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,437 @@
+time_stamp: 27869.6
+cost: 20.7
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
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+start: [3.8,3,0]
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+goal_distance: 3.92722e-05
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
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+ - [-0.5,-0.499972]
+ - [-0.5,-0.49998]
+ - [-0.5,-0.499988]
+ - [-0.5,-0.499997]
+ - [-0.5,-0.5]
+ - [-0.5,-0.5]
+ - [-0.5,-0.5]
+ - [-0.5,-0.5]
+ - [-0.5,-0.5]
+ - [-0.5,-0.5]
+ - [-0.5,-0.5]
+ - [-0.5,-0.5]
+ - [-0.5,-0.5]
+ - [-0.5,-0.5]
+ - [-0.5,-0.5]
+ - [-0.466783,-0.5]
+ - [-0.402567,-0.5]
+ - [-0.313129,-0.5]
+ - [-0.207298,-0.5]
+ - [-0.104166,-0.5]
+ - [-0.0206997,-0.5]
+ - [0.00176714,-0.5]
+ - [0.0334306,-0.5]
+ - [0.0981893,-0.5]
+ - [0.188453,-0.5]
+ - [0.29297,-0.5]
+ - [0.391809,-0.5]
+ - [0.466013,-0.5]
+ - [0.5,-0.5]
+ - [0.5,-0.5]
+ - [0.5,-0.5]
+info: "ddp_iterations=26;ddp_time=577.755311"
diff --git a/envs/unicycle1_v0/bugtrap_0/rrt_to_v0_guess_v0.yaml b/envs/unicycle1_v0/bugtrap_0/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..a19f1b3
--- /dev/null
+++ b/envs/unicycle1_v0/bugtrap_0/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,55 @@
+time_stamp: 6
+cost: 24.9089
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [3.8,3,0]
+goal: [5.2,3,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 11
+states:
+ - [3.8,3,0]
+ - [2.82736,3.07217,1.5711]
+ - [1.66627,2.90828,2.57239]
+ - [1.16604,2.70812,3.04229]
+ - [0.967812,1.34129,2.65199]
+ - [1.86295,0.804452,1.93546]
+ - [2.44405,0.594336,-2.70663]
+ - [3.14194,1.0135,-2.31685]
+ - [4.77307,1.03386,-1.60386]
+ - [5.19528,1.75737,-0.185884]
+ - [5.2,3,0]
+num_actions: 10
+actions:
+ - [0,0]
+ - [0,0]
+ - [0,0]
+ - [0,0]
+ - [0,0]
+ - [0,0]
+ - [0,0]
+ - [0,0]
+ - [0,0]
+ - [0,0]
+num_times: 11
+times:
+ - 0
+ - 3.1422
+ - 5.48739
+ - 6.56496
+ - 9.32723
+ - 11.4148
+ - 14.697
+ - 16.3251
+ - 19.5877
+ - 22.4236
+ - 24.9089
diff --git a/envs/unicycle1_v0/bugtrap_0/rrt_to_v0_solution_v0.yaml b/envs/unicycle1_v0/bugtrap_0/rrt_to_v0_solution_v0.yaml
new file mode 100644
index 0000000..9015348
--- /dev/null
+++ b/envs/unicycle1_v0/bugtrap_0/rrt_to_v0_solution_v0.yaml
@@ -0,0 +1,809 @@
+time_stamp: 2.08939e-316
+cost: 39.3
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [3.8,3,0]
+goal: [5.2,3,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 6.4136e-06
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 394
+states:
+ - [3.8,3,0]
+ - [3.7753,3,0.00198514]
+ - [3.75027,2.99995,0.00379556]
+ - [3.72496,2.99985,0.00543492]
+ - [3.69944,2.99972,0.00690958]
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+ - [3.59731,2.99882,0.0117501]
+ - [3.57197,2.99853,0.0129209]
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+info: "ddp_iterations=23;ddp_time=416.389618"
diff --git a/envs/unicycle1_v0/kink_0/idbastar_v0_db_solution_v0.yaml b/envs/unicycle1_v0/kink_0/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..e1a1d1f
--- /dev/null
+++ b/envs/unicycle1_v0/kink_0/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,506 @@
+time_stamp: 786.122
+cost: 24.2
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0.5,4,1.55]
+goal: [5.5,4,1.55]
+max_jump: 0.123063
+max_collision: 0
+goal_distance: 0.123765
+start_distance: 0.0396395
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 243
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diff --git a/envs/unicycle1_v0/kink_0/idbastar_v0_opt_solution_v0.yaml b/envs/unicycle1_v0/kink_0/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..4a8cffa
--- /dev/null
+++ b/envs/unicycle1_v0/kink_0/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,453 @@
+time_stamp: 2907.98
+cost: 21.5
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+ - [0.488844,0.188618]
+ - [0.486614,0.234402]
+ - [0.484803,0.414602]
+info: "ddp_iterations=4;ddp_time=80.553192"
diff --git a/envs/unicycle1_v0/kink_0/idbastar_v0_solution_v0.yaml b/envs/unicycle1_v0/kink_0/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..2c614fd
--- /dev/null
+++ b/envs/unicycle1_v0/kink_0/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,287 @@
+time_stamp: 9783.23
+cost: 13.2
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0.5,4,1.55]
+goal: [5.5,4,1.55]
+max_jump: 0
+max_collision: 0
+goal_distance: 9.60542e-05
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 133
+states:
+ - [0.5,4,1.55]
+ - [0.498961,3.95002,1.5]
+ - [0.495425,3.90017,1.45]
+ - [0.489402,3.85055,1.4]
+ - [0.480909,3.80131,1.35]
+ - [0.471078,3.75751,1.3]
+ - [0.462,3.72481,1.25]
+ - [0.455392,3.70492,1.2]
+ - [0.452982,3.69872,1.15]
+ - [0.456241,3.70601,1.1]
+ - [0.466258,3.72569,1.05]
+ - [0.48367,3.75604,1]
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+num_actions: 132
+actions:
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+ - [-0.499778,-0.5]
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+ - [0.5,0.288091]
+ - [0.5,0.328436]
+ - [0.5,0.373869]
+ - [0.5,0.419242]
+ - [0.5,0.460724]
+ - [0.5,0.495298]
+ - [0.5,0.499736]
+ - [0.5,0.499796]
+ - [0.5,0.499861]
+ - [0.5,0.49993]
+ - [0.5,0.5]
+ - [0.5,0.5]
+ - [0.5,0.499821]
+ - [0.5,0.499853]
+ - [0.5,0.499886]
+ - [0.5,0.499883]
+ - [0.5,0.499903]
+ - [0.5,0.499867]
+ - [0.5,0.499933]
+ - [0.5,0.5]
+ - [0.5,0.5]
+ - [0.5,0.5]
+ - [0.5,0.5]
+ - [0.5,0.5]
+ - [0.5,0.5]
+ - [0.5,0.5]
+ - [0.5,0.5]
+ - [0.35086,0.5]
+ - [0.0225259,0.5]
+ - [-0.447455,0.5]
+info: "ddp_iterations=30;ddp_time=347.524615"
diff --git a/envs/unicycle1_v0/kink_0/rrt_to_v0_guess_v0.yaml b/envs/unicycle1_v0/kink_0/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..b32ec64
--- /dev/null
+++ b/envs/unicycle1_v0/kink_0/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,52 @@
+time_stamp: 1
+cost: 28.8757
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [0.5,4,1.55]
+goal: [5.5,4,1.55]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 10
+states:
+ - [0.5,4,1.55]
+ - [0.774152,2.48614,0.874291]
+ - [0.371829,0.901985,0.325271]
+ - [1.85639,0.313571,-0.503321]
+ - [3.45587,0.240707,-1.32348]
+ - [4.31045,0.745412,2.92225]
+ - [4.7984,0.559032,1.85318]
+ - [5.13866,1.58778,-0.00213909]
+ - [5.24388,3.44324,0.303407]
+ - [5.5,4,1.55]
+num_actions: 9
+actions:
+ - [0,0]
+ - [0,0]
+ - [0,0]
+ - [0,0]
+ - [0,0]
+ - [0,0]
+ - [0,0]
+ - [0,0]
+ - [0,0]
+num_times: 10
+times:
+ - 0
+ - 3.07697
+ - 6.34586
+ - 9.5397
+ - 12.742
+ - 16.8169
+ - 18.955
+ - 22.6657
+ - 26.3826
+ - 28.8757
diff --git a/envs/unicycle1_v0/kink_0/rrt_to_v0_solution_v0.yaml b/envs/unicycle1_v0/kink_0/rrt_to_v0_solution_v0.yaml
new file mode 100644
index 0000000..cad6ed7
--- /dev/null
+++ b/envs/unicycle1_v0/kink_0/rrt_to_v0_solution_v0.yaml
@@ -0,0 +1,297 @@
+time_stamp: 9.04815e-317
+cost: 13.7
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0.5,4,1.55]
+goal: [5.5,4,1.55]
+max_jump: 0
+max_collision: 0
+goal_distance: 2.56573e-05
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 138
+states:
+ - [0.5,4,1.55]
+ - [0.499329,3.96776,1.5]
+ - [0.497293,3.93904,1.45]
+ - [0.494251,3.91398,1.4]
+ - [0.490664,3.89318,1.35]
+ - [0.486985,3.87679,1.3]
+ - [0.483652,3.86479,1.25]
+ - [0.481092,3.85708,1.2]
+ - [0.479721,3.85356,1.15]
+ - [0.479937,3.85404,1.1]
+ - [0.482113,3.85831,1.05]
+ - [0.486598,3.86613,1]
+ - [0.493712,3.87721,0.95]
+ - [0.503739,3.89123,0.9]
+ - [0.51693,3.90786,0.85]
+ - [0.533496,3.92672,0.8]
+ - [0.553405,3.94721,0.75]
+ - [0.576743,3.96896,0.7]
+ - [0.603597,3.99157,0.65]
+ - [0.634015,4.0147,0.6]
+ - [0.668015,4.03796,0.55]
+ - [0.705581,4.06099,0.5]
+ - [0.746665,4.08344,0.451032]
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+ - [1.02779,4.18415,0.214038]
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+ - [1.57406,4.23726,-0.00634838]
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diff --git a/envs/unicycle1_v0/motions/unicycle1_v0__ispso__2023_04_03__14_56_57.bin.im.bin.im.bin.small.msgpack b/envs/unicycle1_v0/motions/unicycle1_v0__ispso__2023_04_03__14_56_57.bin.im.bin.im.bin.small.msgpack
new file mode 100644
index 0000000..d4f7a32
Binary files /dev/null and b/envs/unicycle1_v0/motions/unicycle1_v0__ispso__2023_04_03__14_56_57.bin.im.bin.im.bin.small.msgpack differ
diff --git a/envs/unicycle1_v0/parallelpark_0/idbastar_v0_db_solution_v0.yaml b/envs/unicycle1_v0/parallelpark_0/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..37cd9cb
--- /dev/null
+++ b/envs/unicycle1_v0/parallelpark_0/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,116 @@
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diff --git a/envs/unicycle1_v0/parallelpark_0/idbastar_v0_opt_solution_v0.yaml b/envs/unicycle1_v0/parallelpark_0/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..8b79422
--- /dev/null
+++ b/envs/unicycle1_v0/parallelpark_0/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,95 @@
+time_stamp: 326.757
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diff --git a/envs/unicycle1_v0/parallelpark_0/idbastar_v0_solution_v0.yaml b/envs/unicycle1_v0/parallelpark_0/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..d4ece7b
--- /dev/null
+++ b/envs/unicycle1_v0/parallelpark_0/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,85 @@
+time_stamp: 1121.1
+cost: 3.1
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0.7,0.8,0]
+goal: [1.9,0.3,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.000956354
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 32
+states:
+ - [0.7,0.8,0]
+ - [0.75,0.8,-0.05]
+ - [0.799938,0.797501,-0.1]
+ - [0.849688,0.792509,-0.15]
+ - [0.899126,0.785037,-0.2]
+ - [0.94813,0.775104,-0.25]
+ - [0.996575,0.762734,-0.3]
+ - [1.04434,0.747958,-0.35]
+ - [1.09131,0.730813,-0.4]
+ - [1.13736,0.711342,-0.436182]
+ - [1.18268,0.690218,-0.45929]
+ - [1.2275,0.668052,-0.4752]
+ - [1.27196,0.645176,-0.487764]
+ - [1.31613,0.621744,-0.499866]
+ - [1.36001,0.597779,-0.514295]
+ - [1.40354,0.573182,-0.534543]
+ - [1.44657,0.54771,-0.554704]
+ - [1.48907,0.521375,-0.564626]
+ - [1.53131,0.49462,-0.567031]
+ - [1.57349,0.467764,-0.562658]
+ - [1.61578,0.441092,-0.550357]
+ - [1.6584,0.414943,-0.500357]
+ - [1.70227,0.390956,-0.450357]
+ - [1.74728,0.369191,-0.400357]
+ - [1.79333,0.349704,-0.350357]
+ - [1.84029,0.332542,-0.300357]
+ - [1.88805,0.317749,-0.250357]
+ - [1.93649,0.305362,-0.200357]
+ - [1.98549,0.295411,-0.150357]
+ - [1.9998,0.293243,-0.100357]
+ - [1.95005,0.298252,-0.0503573]
+ - [1.90012,0.300769,-0.000357276]
+num_actions: 31
+actions:
+ - [0.5,-0.5]
+ - [0.5,-0.5]
+ - [0.5,-0.5]
+ - [0.5,-0.5]
+ - [0.5,-0.5]
+ - [0.5,-0.5]
+ - [0.5,-0.5]
+ - [0.5,-0.5]
+ - [0.5,-0.361817]
+ - [0.5,-0.231085]
+ - [0.5,-0.159097]
+ - [0.5,-0.125637]
+ - [0.5,-0.121024]
+ - [0.5,-0.144288]
+ - [0.5,-0.202479]
+ - [0.5,-0.201617]
+ - [0.5,-0.0992147]
+ - [0.5,-0.0240548]
+ - [0.5,0.0437286]
+ - [0.5,0.123012]
+ - [0.5,0.5]
+ - [0.5,0.5]
+ - [0.5,0.5]
+ - [0.5,0.5]
+ - [0.5,0.5]
+ - [0.5,0.5]
+ - [0.5,0.5]
+ - [0.5,0.5]
+ - [0.144717,0.5]
+ - [-0.5,0.5]
+ - [-0.5,0.5]
+info: "ddp_iterations=22;ddp_time=47.838520"
diff --git a/envs/unicycle1_v0/parallelpark_0/rrt_to_v0_guess_v0.yaml b/envs/unicycle1_v0/parallelpark_0/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..55118cb
--- /dev/null
+++ b/envs/unicycle1_v0/parallelpark_0/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,34 @@
+time_stamp: 1
+cost: 4.18501
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [0.7,0.8,0]
+goal: [1.9,0.3,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 4
+states:
+ - [0.7,0.8,0]
+ - [1.39754,0.702631,0.512144]
+ - [1.99308,0.427142,0.732028]
+ - [1.9,0.3,0]
+num_actions: 3
+actions:
+ - [0,0]
+ - [0,0]
+ - [0,0]
+num_times: 4
+times:
+ - 0
+ - 1.40861
+ - 2.72095
+ - 4.18501
diff --git a/envs/unicycle1_v0/parallelpark_0/rrt_to_v0_solution_v0.yaml b/envs/unicycle1_v0/parallelpark_0/rrt_to_v0_solution_v0.yaml
new file mode 100644
index 0000000..c156f35
--- /dev/null
+++ b/envs/unicycle1_v0/parallelpark_0/rrt_to_v0_solution_v0.yaml
@@ -0,0 +1,89 @@
+time_stamp: 1.8312e-316
+cost: 3.3
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0.7,0.8,0]
+goal: [1.9,0.3,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 2.90354e-05
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 34
+states:
+ - [0.7,0.8,0]
+ - [0.716639,0.8,-0.0462254]
+ - [0.74658,0.798615,-0.0907237]
+ - [0.787997,0.794847,-0.133472]
+ - [0.837432,0.788209,-0.174903]
+ - [0.886576,0.779525,-0.214655]
+ - [0.935358,0.76889,-0.25311]
+ - [0.983715,0.756382,-0.290113]
+ - [1.03159,0.742088,-0.3255]
+ - [1.07896,0.726104,-0.353761]
+ - [1.12586,0.708783,-0.381518]
+ - [1.17226,0.690166,-0.408513]
+ - [1.21815,0.670304,-0.434361]
+ - [1.26351,0.649262,-0.458496]
+ - [1.30834,0.627132,-0.479915]
+ - [1.35269,0.604047,-0.499398]
+ - [1.39659,0.580102,-0.517239]
+ - [1.44005,0.555378,-0.533482]
+ - [1.4831,0.529952,-0.548102]
+ - [1.52578,0.503898,-0.561159]
+ - [1.56811,0.47729,-0.572917]
+ - [1.61012,0.450185,-0.583965]
+ - [1.65184,0.422619,-0.539531]
+ - [1.6946,0.397011,-0.492306]
+ - [1.73827,0.373588,-0.44333]
+ - [1.78276,0.352462,-0.394035]
+ - [1.82795,0.333674,-0.344425]
+ - [1.87367,0.317275,-0.294514]
+ - [1.91972,0.303305,-0.244514]
+ - [1.96595,0.29177,-0.19632]
+ - [1.94884,0.295172,-0.147789]
+ - [1.93276,0.297567,-0.0990602]
+ - [1.91646,0.299187,-0.0500355]
+ - [1.9,0.300011,-3.55068e-05]
+num_actions: 33
+actions:
+ - [0.166393,-0.462254]
+ - [0.299727,-0.444983]
+ - [0.415877,-0.427487]
+ - [0.498794,-0.414303]
+ - [0.499046,-0.397521]
+ - [0.499276,-0.384548]
+ - [0.499488,-0.370031]
+ - [0.499682,-0.353878]
+ - [0.499859,-0.28261]
+ - [0.499991,-0.277569]
+ - [0.5,-0.269942]
+ - [0.5,-0.258488]
+ - [0.5,-0.241344]
+ - [0.5,-0.214195]
+ - [0.5,-0.194825]
+ - [0.5,-0.178411]
+ - [0.5,-0.162427]
+ - [0.5,-0.146208]
+ - [0.5,-0.130568]
+ - [0.5,-0.117576]
+ - [0.5,-0.11048]
+ - [0.5,0.444341]
+ - [0.498453,0.472246]
+ - [0.495564,0.489758]
+ - [0.492512,0.492955]
+ - [0.489376,0.496092]
+ - [0.485676,0.499117]
+ - [0.48125,0.5]
+ - [0.47649,0.481943]
+ - [-0.174421,0.485306]
+ - [-0.162642,0.487286]
+ - [-0.163769,0.490247]
+ - [-0.164795,0.5]
+info: "ddp_iterations=12;ddp_time=23.085123"
diff --git a/envs/unicycle1_v1/kink_0.yaml b/envs/unicycle1_v1/kink_0.yaml
new file mode 100644
index 0000000..a5733c8
--- /dev/null
+++ b/envs/unicycle1_v1/kink_0.yaml
@@ -0,0 +1,21 @@
+environment:
+ min: [0.0, 0.0]
+ max: [6.0, 6.0]
+ obstacles:
+ - type: box
+ center: [3.0, 5.2]
+ size: [3.0, 1.6]
+ - type: box
+ center: [3.9, 4.0]
+ size: [1.2, 0.8]
+ - type: box
+ center: [2.1, 3.4]
+ size: [1.2, 0.8]
+ - type: box
+ center: [3.0, 2.0]
+ size: [3.0, 2.0]
+
+robots:
+ - type: unicycle1_v1
+ start: [0.5, 4.5, 1.55] # x,y,theta
+ goal: [5.5, 4.0, 1.55] # x,y,theta
diff --git a/envs/unicycle1_v1/kink_0/idbastar_v0_db_solution_v0.yaml b/envs/unicycle1_v1/kink_0/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..593ae1f
--- /dev/null
+++ b/envs/unicycle1_v1/kink_0/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,560 @@
+time_stamp: 128.228
+cost: 26.9
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0.5,4.5,1.55]
+goal: [5.5,4,1.55]
+max_jump: 0.235704
+max_collision: 0
+goal_distance: 0.295711
+start_distance: 0.147452
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 270
+states:
+ - [0.5,4.5,1.8449]
+ - [0.493233,4.52407,1.86792]
+ - [0.485913,4.54797,1.8901]
+ - [0.478066,4.57171,1.91148]
+ - [0.469712,4.59527,1.93208]
+ - [0.460875,4.61866,1.95194]
+ - [0.451576,4.64186,1.97107]
+ - [0.441834,4.66489,1.98949]
+ - [0.43167,4.68773,2.00724]
+ - [0.421102,4.71038,2.02433]
+ - [0.410149,4.73286,2.04076]
+ - [0.398827,4.75515,2.05657]
+ - [0.387155,4.77725,2.07175]
+ - [0.375148,4.79918,2.08631]
+ - [0.362824,4.82093,2.10027]
+ - [0.350197,4.84251,2.11362]
+ - [0.337283,4.86392,2.12637]
+ - [0.324097,4.88516,2.1385]
+ - [0.310655,4.90623,2.15003]
+ - [0.29697,4.92716,2.16093]
+ - [0.283058,4.94793,2.1712]
+ - [0.268934,4.96856,2.08592]
+ - [0.244306,5.01206,2.0416]
+ - [0.221626,5.05662,2.00131]
+ - [0.200759,5.10206,1.9676]
+ - [0.181435,5.14817,1.93973]
+ - [0.163404,5.19481,1.91982]
+ - [0.0379309,5.29171,1.7015]
+ - [0.0346725,5.31649,1.65751]
+ - [0.0325073,5.3414,1.61316]
+ - [0.0314485,5.36638,1.56859]
+ - [0.0315038,5.39138,1.52408]
+ - [0.0326713,5.41635,1.47408]
+ - [0.0350855,5.44123,1.42408]
+ - [0.0387403,5.46597,1.37408]
+ - [0.0436266,5.49048,1.32408]
+ - [0.0497322,5.51473,1.27408]
+ - [0.0570418,5.53863,1.22408]
+ - [0.0655372,5.56215,1.17408]
+ - [0.075197,5.5852,1.12408]
+ - [0.0859972,5.60775,1.07408]
+ - [0.0979108,5.62973,1.02408]
+ - [0.110908,5.65109,0.974078]
+ - [0.124956,5.67177,0.924078]
+ - [0.140021,5.69172,0.874078]
+ - [0.156063,5.71089,0.824078]
+ - [0.173044,5.72924,0.774078]
+ - [0.190921,5.74672,0.724078]
+ - [0.209648,5.76328,0.674078]
+ - [0.229181,5.77888,0.624078]
+ - [0.249468,5.79349,0.465007]
+ - [0.283658,5.81064,0.446741]
+ - [0.318343,5.82726,0.427407]
+ - [0.352659,5.84289,0.406988]
+ - [0.383965,5.85638,0.362671]
+ - [0.413484,5.86758,0.32019]
+ - [0.442201,5.87711,0.276788]
+ - [0.46625,5.88394,0.233037]
+ - [0.490574,5.88971,0.189012]
+ - [0.515129,5.89441,0.144805]
+ - [0.539867,5.89802,0.100567]
+ - [0.564741,5.90053,0.0565445]
+ - [0.589701,5.90194,-0.145777]
+ - [0.630805,5.89591,-0.195777]
+ - [0.673739,5.88739,-0.245568]
+ - [0.717829,5.87634,-0.294538]
+ - [0.762191,5.86288,-0.342697]
+ - [0.806514,5.84707,-0.390026]
+ - [0.850633,5.82893,-0.436526]
+ - [0.894398,5.80851,-0.578737]
+ - [0.915327,5.79484,-0.615705]
+ - [0.935736,5.7804,-0.651808]
+ - [0.955611,5.76524,-0.687122]
+ - [0.974938,5.74938,-0.721712]
+ - [0.993704,5.73286,-0.755639]
+ - [1.0119,5.71572,-0.78896]
+ - [1.02952,5.69797,-0.821725]
+ - [1.04659,5.67961,-0.853979]
+ - [1.06309,5.66068,-0.885764]
+ - [1.07904,5.64115,-0.917117]
+ - [1.09443,5.62107,-0.948073]
+ - [1.11615,5.59082,-0.998715]
+ - [1.12968,5.5698,-1.04872]
+ - [1.14215,5.54813,-1.09872]
+ - [1.15352,5.52587,-1.14872]
+ - [1.16376,5.50306,-1.19872]
+ - [1.17285,5.47977,-1.24872]
+ - [1.18076,5.45606,-1.29872]
+ - [1.18748,5.43198,-1.34872]
+ - [1.19299,5.40759,-1.39872]
+ - [1.19727,5.38296,-1.44872]
+ - [1.20031,5.35815,-1.49872]
+ - [1.20211,5.33321,-1.54872]
+ - [1.20266,5.30822,-1.59872]
+ - [1.20197,5.28323,-1.64872]
+ - [1.20002,5.2583,-1.69872]
+ - [1.19683,5.23351,-1.74872]
+ - [1.19241,5.2089,-1.7985]
+ - [1.18676,5.18455,-1.84708]
+ - [1.17994,5.1605,-1.89381]
+ - [1.17201,5.13679,-1.93867]
+ - [1.16274,5.11276,-1.98157]
+ - [1.15119,5.08623,-2.02245]
+ - [1.13459,5.052,-2.06053]
+ - [1.11576,5.01668,-2.1661]
+ - [1.10174,4.99598,-2.1161]
+ - [1.08877,4.9746,-2.0661]
+ - [1.07689,4.95261,-2.0161]
+ - [1.06612,4.93005,-1.9661]
+ - [1.05649,4.90698,-1.9161]
+ - [1.04803,4.88345,-1.8661]
+ - [1.04076,4.85953,-1.81611]
+ - [1.03469,4.83528,-1.63276]
+ - [1.03291,4.80658,-1.59658]
+ - [1.03215,4.77737,-1.56087]
+ - [1.03247,4.74535,-1.52562]
+ - [1.03396,4.7124,-1.49083]
+ - [1.03662,4.67918,-1.45646]
+ - [1.04046,4.64574,-1.42248]
+ - [1.04549,4.61211,-1.3295]
+ - [1.05146,4.58784,-1.29414]
+ - [1.05829,4.56379,-1.25947]
+ - [1.06595,4.53999,-1.22545]
+ - [1.07441,4.51646,-1.19203]
+ - [1.08365,4.49324,-1.15915]
+ - [1.09366,4.47032,-1.12679]
+ - [1.1044,4.44775,-1.09491]
+ - [1.11585,4.42553,-1.06347]
+ - [1.128,4.40367,-1.03245]
+ - [1.14081,4.38221,-1.00183]
+ - [1.15428,4.36115,-0.971591]
+ - [1.16838,4.3405,-0.941707]
+ - [1.18309,4.32029,-0.91217]
+ - [1.19839,4.30052,-0.882969]
+ - [1.21426,4.2812,-0.854098]
+ - [1.23069,4.26235,-0.562983]
+ - [1.25183,4.24901,-0.512983]
+ - [1.27361,4.23674,-0.462983]
+ - [1.29598,4.22558,-0.412983]
+ - [1.31888,4.21554,-0.362983]
+ - [1.34225,4.20667,-0.312983]
+ - [1.36603,4.19897,-0.262983]
+ - [1.39017,4.19247,-0.212983]
+ - [1.41461,4.18719,-0.162983]
+ - [1.43928,4.18313,-0.112983]
+ - [1.46412,4.18031,-0.0629828]
+ - [1.48907,4.17874,-0.0129828]
+ - [1.51407,4.17841,-0.0113765]
+ - [1.54279,4.17809,0.00514069]
+ - [1.57168,4.17823,0.0200938]
+ - [1.6007,4.17882,0.0336002]
+ - [1.62982,4.1798,0.0457612]
+ - [1.65904,4.18113,0.0566629]
+ - [1.68833,4.1828,0.066379]
+ - [1.7171,4.18471,0.0749718]
+ - [1.74591,4.18687,0.082506]
+ - [1.77475,4.18926,0.0890321]
+ - [1.80363,4.19184,-0.0113765]
+ - [1.83236,4.19151,0.00514069]
+ - [1.86125,4.19166,0.0200938]
+ - [1.89027,4.19224,0.0336002]
+ - [1.91939,4.19322,0.0457612]
+ - [1.94861,4.19456,0.0566629]
+ - [1.9779,4.19622,0.066379]
+ - [2.00667,4.19813,0.0749718]
+ - [2.03548,4.2003,0.082506]
+ - [2.06432,4.20268,0.0890321]
+ - [2.0932,4.20526,-0.0766018]
+ - [2.14059,4.20162,-0.114533]
+ - [2.18787,4.19618,-0.152172]
+ - [2.23497,4.18896,-0.189552]
+ - [2.28181,4.17997,-0.226703]
+ - [2.33031,4.16879,-0.263647]
+ - [2.37839,4.15581,-0.300275]
+ - [2.426,4.14107,-0.336671]
+ - [2.47306,4.1246,-0.372855]
+ - [2.51951,4.10643,-0.408845]
+ - [2.56529,4.08659,-0.444656]
+ - [2.61035,4.06512,-0.480304]
+ - [2.65462,4.04206,-0.515541]
+ - [2.69806,4.01744,-0.550698]
+ - [2.74061,3.99131,-0.585785]
+ - [2.78223,3.9637,-0.611621]
+ - [2.82311,3.93503,-0.642267]
+ - [2.86309,3.90512,-0.672872]
+ - [2.90214,3.874,-0.703445]
+ - [2.94022,3.8417,-0.733996]
+ - [2.987,3.84369,-0.896971]
+ - [3.01478,3.8089,-0.946972]
+ - [3.04122,3.77217,-0.996972]
+ - [3.07603,3.66851,-0.896971]
+ - [3.10381,3.63371,-0.946972]
+ - [3.13024,3.59699,-0.996972]
+ - [3.15518,3.55841,-0.84088]
+ - [3.18852,3.52114,-0.79088]
+ - [3.22368,3.4856,-0.74088]
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diff --git a/envs/unicycle1_v1/kink_0/idbastar_v0_opt_solution_v0.yaml b/envs/unicycle1_v1/kink_0/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..ae1ad26
--- /dev/null
+++ b/envs/unicycle1_v1/kink_0/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,447 @@
+time_stamp: 2508.68
+cost: 21.2
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+goal_distance: 2.52887e-05
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+info: "ddp_iterations=22;ddp_time=223.417667"
diff --git a/envs/unicycle1_v1/kink_0/idbastar_v0_solution_v0.yaml b/envs/unicycle1_v1/kink_0/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..5c66227
--- /dev/null
+++ b/envs/unicycle1_v1/kink_0/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,445 @@
+time_stamp: 14398.5
+cost: 21.1
+feasible: 1
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+goal_feas: 1
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+x_bounds_feas: 1
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+start: [0.5,4.5,1.55]
+goal: [5.5,4,1.55]
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+max_collision: 0
+goal_distance: 7.5313e-05
+start_distance: 0
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+num_states: 212
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diff --git a/envs/unicycle1_v1/kink_0/rrt_to_v0_guess_v0.yaml b/envs/unicycle1_v1/kink_0/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..76b54dc
--- /dev/null
+++ b/envs/unicycle1_v1/kink_0/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,55 @@
+time_stamp: 1
+cost: 31.8476
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+u_bounds_feas: 0
+start: [0.5,4.5,1.55]
+goal: [5.5,4,1.55]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 11
+states:
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diff --git a/envs/unicycle1_v1/kink_0/rrt_to_v0_solution_v0.yaml b/envs/unicycle1_v1/kink_0/rrt_to_v0_solution_v0.yaml
new file mode 100644
index 0000000..56bfa22
--- /dev/null
+++ b/envs/unicycle1_v1/kink_0/rrt_to_v0_solution_v0.yaml
@@ -0,0 +1,559 @@
+time_stamp: 1.65178e-316
+cost: 26.8
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+num_states: 269
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+info: "ddp_iterations=45;ddp_time=598.810212"
diff --git a/envs/unicycle1_v1/motions/tmp_motions_unicycle1_v1.bin.sp.bin.small.msgpack b/envs/unicycle1_v1/motions/tmp_motions_unicycle1_v1.bin.sp.bin.small.msgpack
new file mode 100644
index 0000000..7cd705b
Binary files /dev/null and b/envs/unicycle1_v1/motions/tmp_motions_unicycle1_v1.bin.sp.bin.small.msgpack differ
diff --git a/envs/unicycle1_v2/motions/tmp_motions_unicycle1_v2.bin.sp.bin.small.msgpack b/envs/unicycle1_v2/motions/tmp_motions_unicycle1_v2.bin.sp.bin.small.msgpack
new file mode 100644
index 0000000..97e9aca
Binary files /dev/null and b/envs/unicycle1_v2/motions/tmp_motions_unicycle1_v2.bin.sp.bin.small.msgpack differ
diff --git a/envs/unicycle1_v2/wall_0.yaml b/envs/unicycle1_v2/wall_0.yaml
new file mode 100644
index 0000000..b01423d
--- /dev/null
+++ b/envs/unicycle1_v2/wall_0.yaml
@@ -0,0 +1,14 @@
+name: wall
+environment:
+ min: [0.0, 0.0]
+ max: [5.0, 6.0]
+ obstacles:
+ - type: box
+ center: [2.5, 2.5]
+ # size: [0.2, 2.0]
+ size: [0.2, 1.4]
+
+robots:
+ - type: unicycle1_v2
+ start: [1.5, 2.5, 0] # x,y,theta
+ goal: [4, 2.5, 0] # x,y,theta
diff --git a/envs/unicycle1_v2/wall_0/idbastar_v0_db_solution_v0.yaml b/envs/unicycle1_v2/wall_0/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..16549de
--- /dev/null
+++ b/envs/unicycle1_v2/wall_0/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,60 @@
+time_stamp: 29.2289
+cost: 1.9
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [1.5,2.5,0]
+goal: [4,2.5,0]
+max_jump: 0.0138098
+max_collision: 0
+goal_distance: 1.86967
+start_distance: 0.0152316
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 20
+states:
+ - [1.5,2.5,0.030463]
+ - [1.54654,2.50142,0.0560674]
+ - [1.59319,2.50404,0.0797352]
+ - [1.6399,2.50777,0.101621]
+ - [1.68663,2.51253,0.121867]
+ - [1.73336,2.51826,0.140611]
+ - [1.78006,2.52487,0.157975]
+ - [1.8267,2.5323,0.174079]
+ - [1.87328,2.54049,0.216651]
+ - [1.8977,2.54586,0.197045]
+ - [1.92222,2.55076,0.177953]
+ - [1.94682,2.55518,0.159336]
+ - [1.9715,2.55915,0.14116]
+ - [1.99626,2.56267,0.123394]
+ - [2.02107,2.56574,0.106011]
+ - [2.04593,2.56839,0.0889858]
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+ - [2.14566,2.57546,0.0275888]
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+actions:
+ - [0.465621,0.256045]
+ - [0.467219,0.236678]
+ - [0.468593,0.218855]
+ - [0.46977,0.202459]
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+ - [0.25,-0.196052]
+ - [0.25,-0.190922]
+ - [0.25,-0.186167]
+ - [0.25,-0.181761]
+ - [0.25,-0.177661]
+ - [0.25,-0.173834]
+ - [0.25,-0.170251]
+ - [0.25,-0.166892]
+ - [0.25,-0.1852]
+ - [0.25,-0.185615]
+ - [0.25,-0.185922]
diff --git a/envs/unicycle1_v2/wall_0/idbastar_v0_opt_solution_v0.yaml b/envs/unicycle1_v2/wall_0/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..6051407
--- /dev/null
+++ b/envs/unicycle1_v2/wall_0/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,413 @@
+time_stamp: 5262.39
+cost: 19.5
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [1.5,2.5,0]
+goal: [4,2.5,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.000184444
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 196
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+num_actions: 195
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+ - [0.25,-0.25]
+ - [0.25,-0.25]
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+ - [0.25,-0.25]
+ - [0.25,-0.25]
+ - [0.25,-0.247621]
+ - [0.25,-0.244689]
+info: "ddp_iterations=7;ddp_time=72.661280"
diff --git a/envs/unicycle1_v2/wall_0/idbastar_v0_solution_v0.yaml b/envs/unicycle1_v2/wall_0/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..93b06e5
--- /dev/null
+++ b/envs/unicycle1_v2/wall_0/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,393 @@
+time_stamp: 18428.6
+cost: 18.5
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [1.5,2.5,0]
+goal: [4,2.5,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 9.82041e-06
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 186
+states:
+ - [1.5,2.5,0]
+ - [1.54621,2.5,0.05]
+ - [1.58866,2.50212,0.1]
+ - [1.62736,2.50601,0.15]
+ - [1.66248,2.51132,0.2]
+ - [1.6943,2.51776,0.25]
+ - [1.72321,2.52515,0.3]
+ - [1.74971,2.53334,0.35]
+ - [1.77427,2.54231,0.4]
+ - [1.7973,2.55205,0.45]
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diff --git a/envs/unicycle1_v2/wall_0/rrt_to_v0_guess_v0.yaml b/envs/unicycle1_v2/wall_0/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..68e026a
--- /dev/null
+++ b/envs/unicycle1_v2/wall_0/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,37 @@
+time_stamp: 1
+cost: 8.88622
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+start: [1.5,2.5,0]
+goal: [4,2.5,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 5
+states:
+ - [1.5,2.5,0]
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+ - [2.70717,3.84755,-0.584449]
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+ - [0.25,0]
+num_times: 5
+times:
+ - 0
+ - 1.06471
+ - 4.17917
+ - 7.86017
+ - 8.88622
diff --git a/envs/unicycle2_v0/bugtrap_0/idbastar_v0_db_solution_v0.yaml b/envs/unicycle2_v0/bugtrap_0/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..14ab933
--- /dev/null
+++ b/envs/unicycle2_v0/bugtrap_0/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,552 @@
+time_stamp: 4121.92
+cost: 26.5
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+start: [3.8,3,0,0,0]
+goal: [5.2,3,0,0,0]
+max_jump: 0.434127
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+goal_distance: 0.494854
+start_distance: 0.136587
+x_bound_distance: 0
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+num_states: 266
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diff --git a/envs/unicycle2_v0/bugtrap_0/idbastar_v0_opt_solution_v0.yaml b/envs/unicycle2_v0/bugtrap_0/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..6d55d3f
--- /dev/null
+++ b/envs/unicycle2_v0/bugtrap_0/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,561 @@
+time_stamp: 4922.42
+cost: 26.9
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [3.8,3,0,0,0]
+goal: [5.2,3,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 9.10753e-06
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 270
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+ - [4.92907e-05,0.0551575]
+ - [0.0162597,0.0529518]
+ - [0.0296632,0.0505832]
+ - [0.110141,0.0480493]
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+ - [0.118006,0.0257213]
+ - [0.118403,0.0218393]
+ - [0.118626,0.0177233]
+ - [0.118675,0.0134636]
+ - [0.118552,0.00221796]
+ - [0.118256,4.42086e-06]
+ - [0.117789,3.40949e-08]
+ - [0.117151,-2.6137e-05]
+ - [0.116341,-0.00865775]
+ - [0.115363,-0.0170323]
+ - [0.114221,-0.0647962]
+ - [0.112956,-0.0701785]
+ - [0.111607,-0.0757017]
+ - [0.110245,-0.0812257]
+ - [0.109051,-0.086814]
+ - [0.108603,-0.0923947]
+ - [0.223565,-0.0975771]
+ - [0.207756,-0.103259]
+ - [0.206772,-0.109321]
+ - [0.105071,-0.115649]
+ - [0.099776,-0.121932]
+ - [0.093188,-0.128426]
+ - [0.0853514,-0.135042]
+ - [0.0768289,-0.141761]
+ - [0.0687932,-0.14833]
+ - [0.0612337,-0.154762]
+ - [0.0542055,-0.161058]
+ - [0.0477567,-0.16722]
+ - [0.0419805,-0.173244]
+ - [0.0370475,-0.179111]
+ - [0.0332228,-0.184788]
+ - [0.0308214,-0.190354]
+ - [0.0300862,-0.195528]
+ - [0.0310515,-0.200437]
+ - [0.0335748,-0.205106]
+ - [0.0374085,-0.209573]
+ - [0.0422739,-0.213886]
+ - [0.0479048,-0.21809]
+ - [0.054062,-0.222229]
+ - [0.0605285,-0.226345]
+info: "ddp_iterations=26;ddp_time=122.878558"
diff --git a/envs/unicycle2_v0/bugtrap_0/idbastar_v0_solution_v0.yaml b/envs/unicycle2_v0/bugtrap_0/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..1308ed3
--- /dev/null
+++ b/envs/unicycle2_v0/bugtrap_0/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,525 @@
+time_stamp: 16292.2
+cost: 25.1
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [3.8,3,0,0,0]
+goal: [5.2,3,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 8.51871e-05
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 252
+states:
+ - [3.8,3,0,0,0]
+ - [3.8,3,0,-0.025,-0.00265051]
+ - [3.7975,3,-0.000265051,-0.05,-0.00511256]
+ - [3.7925,3,-0.000776307,-0.075,-0.00738777]
+ - [3.785,3.00001,-0.00151508,-0.1,-0.0094731]
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+ - [3.7625,3.00005,-0.003599,-0.15,-0.0130623]
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+info: "ddp_iterations=20;ddp_time=148.702937"
diff --git a/envs/unicycle2_v0/bugtrap_0/rrt_to_v0_guess_v0.yaml b/envs/unicycle2_v0/bugtrap_0/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..be4181b
--- /dev/null
+++ b/envs/unicycle2_v0/bugtrap_0/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,58 @@
+time_stamp: 21
+cost: 29.2174
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [3.8,3,0,0,0]
+goal: [5.2,3,0,0,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 12
+states:
+ - [3.8,3,0,0,0]
+ - [2.49271,2.84658,1.14501,0,0]
+ - [1.34552,3.05536,1.33747,0,0]
+ - [1.19049,3.42671,1.64996,0,0]
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+ - [2.548,5.03324,-2.54915,0,0]
+ - [3.89725,5.8826,-2.2721,0,0]
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+ - [5.58572,3.79951,-0.825366,0,0]
+ - [5.2,3,0,0,0]
+num_actions: 11
+actions:
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+ - [0,0]
+ - [0,0]
+ - [0,0]
+ - [0,0]
+ - [0,0]
+ - [0,0]
+ - [0,0]
+ - [0,0]
+ - [0,0]
+ - [0,0]
+num_times: 12
+times:
+ - 0
+ - 2.63252
+ - 4.9646
+ - 5.76942
+ - 8.98065
+ - 12.1639
+ - 15.3525
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+ - 25.129
+ - 27.442
+ - 29.2174
diff --git a/envs/unicycle2_v0/kink_0/idbastar_v0_db_solution_v0.yaml b/envs/unicycle2_v0/kink_0/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..1a34697
--- /dev/null
+++ b/envs/unicycle2_v0/kink_0/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,386 @@
+time_stamp: 1179.15
+cost: 18.2
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0.5,4,1.55,0,0]
+goal: [5.5,4,1.55,0,0]
+max_jump: 0.248991
+max_collision: 0
+goal_distance: 0.486359
+start_distance: 0.111891
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 183
+states:
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diff --git a/envs/unicycle2_v0/kink_0/idbastar_v0_opt_solution_v0.yaml b/envs/unicycle2_v0/kink_0/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..05af184
--- /dev/null
+++ b/envs/unicycle2_v0/kink_0/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,411 @@
+time_stamp: 2724.72
+cost: 19.4
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+max_collision: 0
+goal_distance: 2.76687e-05
+start_distance: 0
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+num_states: 195
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+ - [-0.0950541,-0.25]
+ - [-0.0863798,-0.25]
+ - [-0.077554,-0.25]
+ - [-0.0686266,-0.25]
+info: "ddp_iterations=40;ddp_time=363.577822"
diff --git a/envs/unicycle2_v0/kink_0/idbastar_v0_solution_v0.yaml b/envs/unicycle2_v0/kink_0/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..98a070c
--- /dev/null
+++ b/envs/unicycle2_v0/kink_0/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,377 @@
+time_stamp: 6089.56
+cost: 17.7
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0.5,4,1.55,0,0]
+goal: [5.5,4,1.55,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.000233054
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 178
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+ - [-4.61619e-06,4.68564e-06]
+ - [-4.75185e-06,4.81651e-06]
+ - [-4.8881e-06,4.93764e-06]
+ - [-2.13502e-05,5.04874e-06]
+ - [-0.0262058,5.12003e-06]
+ - [-0.101846,5.09207e-06]
+ - [-0.169174,4.97056e-06]
+ - [-0.228053,4.74787e-06]
+ - [-0.25,-2.83313e-05]
+ - [-0.25,-0.0526069]
+ - [-0.25,-0.195444]
+ - [-0.25,-0.25]
+ - [-0.25,-0.25]
+ - [-0.25,-0.25]
+ - [-0.25,-0.25]
+ - [-0.25,-0.25]
+ - [-0.25,-0.25]
+ - [-0.25,-0.25]
+ - [-0.25,-0.25]
+ - [-0.25,-0.25]
+ - [-0.25,-0.25]
+ - [-0.238337,-0.25]
+ - [-0.197435,-0.25]
+ - [-0.153626,-0.25]
+ - [-0.1074,-0.25]
+ - [-0.0592465,-0.25]
+ - [-0.0096489,-0.25]
+ - [0.0409111,-0.25]
+info: "ddp_iterations=46;ddp_time=555.610234"
diff --git a/envs/unicycle2_v0/kink_0/rrt_to_v0_guess_v0.yaml b/envs/unicycle2_v0/kink_0/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..8618367
--- /dev/null
+++ b/envs/unicycle2_v0/kink_0/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,49 @@
+time_stamp: 4
+cost: 24.5891
+feasible: 0
+traj_feas: 0
+goal_feas: 0
+start_feas: 0
+col_feas: 0
+x_bounds_feas: 0
+u_bounds_feas: 0
+start: [0.5,4,1.55,0,0]
+goal: [5.5,4,1.55,0,0]
+max_jump: -1
+max_collision: -1
+goal_distance: -1
+start_distance: -1
+x_bound_distance: -1
+u_bound_distance: -1
+num_states: 9
+states:
+ - [0.5,4,1.55,0,0]
+ - [0.647005,2.22995,1.80963,0,0]
+ - [0.464668,1.1625,1.6985,0,0]
+ - [1.98075,0.207338,2.13667,0,0]
+ - [3.22522,0.63428,0.683351,0,0]
+ - [4.52022,0.656134,2.20995,0,0]
+ - [5.79124,1.85794,2.67147,0,0]
+ - [5.35806,2.59933,1.16484,0,0]
+ - [5.5,4,1.55,0,0]
+num_actions: 8
+actions:
+ - [0,0]
+ - [0,0]
+ - [0,0]
+ - [0,0]
+ - [0,0]
+ - [0,0]
+ - [0,0]
+ - [0,0]
+num_times: 9
+times:
+ - 0
+ - 3.55228
+ - 5.71811
+ - 9.30187
+ - 12.2085
+ - 15.2617
+ - 18.7602
+ - 21.7734
+ - 24.5891
diff --git a/envs/unicycle2_v0/kink_0/rrt_to_v0_solution_v0.yaml b/envs/unicycle2_v0/kink_0/rrt_to_v0_solution_v0.yaml
new file mode 100644
index 0000000..989b7a9
--- /dev/null
+++ b/envs/unicycle2_v0/kink_0/rrt_to_v0_solution_v0.yaml
@@ -0,0 +1,559 @@
+time_stamp: 1.23773e-316
+cost: 26.8
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0.5,4,1.55,0,0]
+goal: [5.5,4,1.55,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.000470596
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 269
+states:
+ - [0.5,4,1.55,0,0]
+ - [0.5,4,1.55,-0.025,0.0235616]
+ - [0.499948,3.9975,1.55236,-0.05,0.0460499]
+ - [0.499856,3.9925,1.55696,-0.075,0.0672256]
+ - [0.499752,3.985,1.56368,-0.1,0.0869617]
+ - [0.499681,3.975,1.57238,-0.125,0.105285]
+ - [0.499701,3.9625,1.58291,-0.15,0.122211]
+ - [0.499882,3.9475,1.59513,-0.175,0.13776]
+ - [0.500308,3.93001,1.60891,-0.2,0.151961]
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+info: "ddp_iterations=50;ddp_time=689.578452"
diff --git a/envs/unicycle2_v0/motions/unicycle2_v0__ispso__2023_04_03__15_36_01.bin.im.bin.im.bin.small.msgpack b/envs/unicycle2_v0/motions/unicycle2_v0__ispso__2023_04_03__15_36_01.bin.im.bin.im.bin.small.msgpack
new file mode 100644
index 0000000..a8537f0
Binary files /dev/null and b/envs/unicycle2_v0/motions/unicycle2_v0__ispso__2023_04_03__15_36_01.bin.im.bin.im.bin.small.msgpack differ
diff --git a/envs/unicycle2_v0/parallelpark_0/idbastar_v0_db_solution_v0.yaml b/envs/unicycle2_v0/parallelpark_0/idbastar_v0_db_solution_v0.yaml
new file mode 100644
index 0000000..b652a75
--- /dev/null
+++ b/envs/unicycle2_v0/parallelpark_0/idbastar_v0_db_solution_v0.yaml
@@ -0,0 +1,86 @@
+time_stamp: 1.66258
+cost: 3.2
+feasible: 0
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+goal_feas: 0
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+col_feas: 1
+x_bounds_feas: 1
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+start: [0.7,0.7,0,0,0]
+goal: [1.9,0.2,0,0,0]
+max_jump: 0.176799
+max_collision: 0
+goal_distance: 0.472651
+start_distance: 0.201308
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 33
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diff --git a/envs/unicycle2_v0/parallelpark_0/idbastar_v0_opt_solution_v0.yaml b/envs/unicycle2_v0/parallelpark_0/idbastar_v0_opt_solution_v0.yaml
new file mode 100644
index 0000000..9b486cf
--- /dev/null
+++ b/envs/unicycle2_v0/parallelpark_0/idbastar_v0_opt_solution_v0.yaml
@@ -0,0 +1,139 @@
+time_stamp: 314.614
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diff --git a/envs/unicycle2_v0/parallelpark_0/idbastar_v0_solution_v0.yaml b/envs/unicycle2_v0/parallelpark_0/idbastar_v0_solution_v0.yaml
new file mode 100644
index 0000000..9b486cf
--- /dev/null
+++ b/envs/unicycle2_v0/parallelpark_0/idbastar_v0_solution_v0.yaml
@@ -0,0 +1,139 @@
+time_stamp: 314.614
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+num_states: 59
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diff --git a/envs/unicycle2_v0/parallelpark_0/rrt_to_v0_guess_v0.yaml b/envs/unicycle2_v0/parallelpark_0/rrt_to_v0_guess_v0.yaml
new file mode 100644
index 0000000..122e1b8
--- /dev/null
+++ b/envs/unicycle2_v0/parallelpark_0/rrt_to_v0_guess_v0.yaml
@@ -0,0 +1,31 @@
+time_stamp: 0
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+goal_distance: -1
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+num_states: 3
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+ - [1.9,0.2,0,0,0]
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+actions:
+ - [0,0]
+ - [0,0]
+num_times: 3
+times:
+ - 0
+ - 1.91634
+ - 3.55928
diff --git a/envs/unicycle2_v0/parallelpark_0/rrt_to_v0_solution_v0.yaml b/envs/unicycle2_v0/parallelpark_0/rrt_to_v0_solution_v0.yaml
new file mode 100644
index 0000000..2fc952e
--- /dev/null
+++ b/envs/unicycle2_v0/parallelpark_0/rrt_to_v0_solution_v0.yaml
@@ -0,0 +1,139 @@
+time_stamp: 1.53384e-316
+cost: 5.8
+feasible: 1
+traj_feas: 1
+goal_feas: 1
+start_feas: 1
+col_feas: 1
+x_bounds_feas: 1
+u_bounds_feas: 1
+start: [0.7,0.7,0,0,0]
+goal: [1.9,0.2,0,0,0]
+max_jump: 0
+max_collision: 0
+goal_distance: 0.000320599
+start_distance: 0
+x_bound_distance: 0
+u_bound_distance: 0
+num_states: 59
+states:
+ - [0.7,0.7,0,0,0]
+ - [0.7,0.7,0,0.0204447,-0.025]
+ - [0.702044,0.7,-0.0025,0.0428591,-0.05]
+ - [0.70633,0.699989,-0.0075,0.0671977,-0.075]
+ - [0.71305,0.699939,-0.015,0.092195,-0.1]
+ - [0.722268,0.699801,-0.025,0.117195,-0.125]
+ - [0.733984,0.699508,-0.0375,0.142195,-0.15]
+ - [0.748194,0.698975,-0.0525,0.167195,-0.175]
+ - [0.76489,0.698097,-0.07,0.192195,-0.2]
+ - [0.784063,0.696753,-0.09,0.217195,-0.225]
+ - [0.805694,0.694801,-0.1125,0.242195,-0.25]
+ - [0.829761,0.692082,-0.1375,0.267195,-0.275]
+ - [0.856228,0.688419,-0.165,0.292195,-0.3]
+ - [0.885051,0.68362,-0.195,0.317195,-0.325]
+ - [0.916169,0.677474,-0.2275,0.342195,-0.344446]
+ - [0.949507,0.669756,-0.261945,0.367195,-0.349552]
+ - [0.984974,0.660247,-0.2969,0.392195,-0.324591]
+ - [1.02248,0.648773,-0.329359,0.413314,-0.299627]
+ - [1.06159,0.635405,-0.359322,0.430355,-0.274627]
+ - [1.10187,0.620272,-0.386784,0.442794,-0.249627]
+ - [1.14288,0.603569,-0.411747,0.450025,-0.224627]
+ - [1.18412,0.585559,-0.43421,0.450004,-0.199627]
+ - [1.22495,0.566628,-0.454172,0.450004,-0.174627]
+ - [1.26539,0.546885,-0.471635,0.450004,-0.149627]
+ - [1.30547,0.526439,-0.486598,0.450004,-0.124627]
+ - [1.34525,0.505396,-0.49906,0.450004,-0.0996268]
+ - [1.38476,0.483859,-0.509023,0.450004,-0.0746268]
+ - [1.42406,0.461929,-0.516486,0.450005,-0.0496268]
+ - [1.46319,0.439707,-0.521448,0.450005,-0.0246268]
+ - [1.50221,0.41729,-0.523911,0.450002,0.000373214]
+ - [1.54117,0.394778,-0.523874,0.446085,0.0253732]
+ - [1.5798,0.372463,-0.521336,0.434772,0.0503732]
+ - [1.6175,0.35081,-0.516299,0.416105,0.0753732]
+ - [1.65369,0.330268,-0.508762,0.391105,0.100373]
+ - [1.68784,0.311218,-0.498724,0.366105,0.125373]
+ - [1.72,0.293707,-0.486187,0.341105,0.150373]
+ - [1.75015,0.277768,-0.47115,0.316105,0.175373]
+ - [1.77832,0.26342,-0.453612,0.291105,0.200373]
+ - [1.80449,0.250663,-0.433575,0.266105,0.225373]
+ - [1.82863,0.239484,-0.411038,0.241105,0.250373]
+ - [1.85074,0.22985,-0.386001,0.216105,0.275373]
+ - [1.87076,0.221714,-0.358463,0.191105,0.300373]
+ - [1.88865,0.215009,-0.328426,0.166105,0.325373]
+ - [1.90438,0.209651,-0.295889,0.141105,0.340538]
+ - [1.91787,0.205537,-0.261835,0.116105,0.340665]
+ - [1.92909,0.202532,-0.227768,0.0911051,0.325136]
+ - [1.93796,0.200474,-0.195255,0.0661051,0.300136]
+ - [1.94445,0.199192,-0.165241,0.0411051,0.275136]
+ - [1.9485,0.198516,-0.137727,0.0161051,0.250136]
+ - [1.9501,0.198295,-0.112714,-0.00889494,0.225136]
+ - [1.94921,0.198395,-0.0902,-0.0338949,0.200136]
+ - [1.94584,0.1987,-0.0701863,-0.0588949,0.175136]
+ - [1.93996,0.199113,-0.0526727,-0.0779067,0.150136]
+ - [1.93218,0.199523,-0.037659,-0.0870077,0.125136]
+ - [1.92349,0.199851,-0.0251454,-0.0856711,0.100136]
+ - [1.91492,0.200066,-0.0151317,-0.0734609,0.0751365]
+ - [1.90758,0.200177,-0.00761806,-0.0500291,0.0501365]
+ - [1.90258,0.200215,-0.00260441,-0.0250291,0.0251365]
+ - [1.90007,0.200222,-9.07555e-05,-2.91465e-05,0.000136498]
+num_actions: 58
+actions:
+ - [0.204447,-0.25]
+ - [0.224144,-0.25]
+ - [0.243386,-0.25]
+ - [0.249973,-0.25]
+ - [0.25,-0.25]
+ - [0.25,-0.25]
+ - [0.25,-0.25]
+ - [0.25,-0.25]
+ - [0.25,-0.25]
+ - [0.25,-0.25]
+ - [0.25,-0.25]
+ - [0.25,-0.25]
+ - [0.25,-0.25]
+ - [0.25,-0.194459]
+ - [0.25,-0.0510654]
+ - [0.25,0.249618]
+ - [0.211193,0.249639]
+ - [0.170406,0.25]
+ - [0.124389,0.25]
+ - [0.072311,0.25]
+ - [-0.000213303,0.25]
+ - [2.0159e-06,0.25]
+ - [1.86874e-06,0.25]
+ - [1.59152e-06,0.25]
+ - [1.31852e-06,0.25]
+ - [1.04933e-06,0.25]
+ - [7.83329e-07,0.25]
+ - [5.04726e-07,0.25]
+ - [-2.40716e-05,0.25]
+ - [-0.0391708,0.25]
+ - [-0.113132,0.25]
+ - [-0.186668,0.25]
+ - [-0.25,0.25]
+ - [-0.25,0.25]
+ - [-0.25,0.25]
+ - [-0.25,0.25]
+ - [-0.25,0.25]
+ - [-0.25,0.25]
+ - [-0.25,0.25]
+ - [-0.25,0.25]
+ - [-0.25,0.25]
+ - [-0.25,0.25]
+ - [-0.25,0.151651]
+ - [-0.25,0.00126874]
+ - [-0.25,-0.155287]
+ - [-0.25,-0.25]
+ - [-0.25,-0.25]
+ - [-0.25,-0.25]
+ - [-0.25,-0.25]
+ - [-0.25,-0.25]
+ - [-0.25,-0.25]
+ - [-0.190117,-0.25]
+ - [-0.0910104,-0.25]
+ - [0.0133659,-0.25]
+ - [0.122103,-0.25]
+ - [0.234317,-0.25]
+ - [0.25,-0.25]
+ - [0.25,-0.25]
+info: "ddp_iterations=47;ddp_time=184.345524"
diff --git a/include/dynobench/croco_macros.hpp b/include/dynobench/dyno_macros.hpp
similarity index 58%
rename from include/dynobench/croco_macros.hpp
rename to include/dynobench/dyno_macros.hpp
index dbc10a0..c9e2457 100644
--- a/include/dynobench/croco_macros.hpp
+++ b/include/dynobench/dyno_macros.hpp
@@ -1,6 +1,9 @@
#pragma once
+#include
+#include
#include
+#include
#define NAMEOF(variable) #variable
@@ -30,11 +33,17 @@
#define CSTR_V(x) std::cout << STR_V(x) << std::endl;
+std::string inline add_stacktrace(const std::string &msg) {
+
+ return "\nMSG: " + msg + "\n" + "STACKTRACE: \n" +
+ boost::stacktrace::to_string(boost::stacktrace::stacktrace()) + "\n";
+}
+
#define CHECK(A, msg) \
if (!A) { \
std::cout << "CHECK failed: '" << #A << " " << A << " '" \
- << " -- " << msg << "AT: " << AT << std::endl; \
- throw std::runtime_error(msg); \
+ << " -- " << add_stacktrace(msg) << "AT: " << AT << std::endl; \
+ throw std::runtime_error(add_stacktrace(msg)); \
}
#define WARN(A, msg) \
@@ -43,70 +52,72 @@
<< " -- " << msg << std::endl; \
}
-#define CHECK_EQ(A, B, msg) \
+#define DYNO_CHECK_EQ(A, B, msg) \
if (!(A == B)) { \
- std::cout << "CHECK_EQ failed: '" << #A << "'=" << A << " '" << #B \
- << "'=" << B << " -- " << msg << std::endl \
+ std::cout << "DYNO_CHECK_EQ failed: '" << #A << "'=" << A << " '" << #B \
+ << "'=" << B << " -- " << add_stacktrace(msg) << std::endl \
<< "AT: " << AT << std::endl; \
- throw std::runtime_error(msg); \
+ throw std::runtime_error(add_stacktrace(msg)); \
}
#define CHECK_NEQ(A, B, msg) \
if (A == B) { \
std::cout << "CHECK_NEQ failed: '" << #A << "'=" << A << " '" << #B \
- << "'=" << B << " -- " << msg << std::endl \
+ << "'=" << B << " -- " << add_stacktrace(msg) << std::endl \
<< "AT: " << AT << std::endl; \
- throw std::runtime_error(msg); \
+ throw std::runtime_error(add_stacktrace(msg)); \
}
-#define CHECK_GEQ(A, B, msg) \
+#define DYNO_DYNO_CHECK_GEQ(A, B, msg) \
if (!(A >= B)) { \
- std::cout << "CHECK_GEQ failed: '" << #A << "'=" << A << " '" << #B \
- << "'=" << B << " -- " << msg << std::endl \
+ std::cout << "DYNO_DYNO_CHECK_GEQ failed: '" << #A << "'=" << A << " '" \
+ << #B << "'=" << B << " -- " << add_stacktrace(msg) << std::endl \
<< "AT: " << AT << std::endl; \
- throw std::runtime_error(msg); \
+ throw std::runtime_error(add_stacktrace(msg)); \
}
-#define WARN_GEQ(A, B, msg) \
+#define DYNO_WARN_GEQ(A, B, msg) \
if (!(A >= B)) { \
- std::cout << "WARN_GEQ failed: '" << #A << "'=" << A << " '" << #B \
+ std::cout << "DYNO_WARN_GEQ failed: '" << #A << "'=" << A << " '" << #B \
<< "'=" << B << " -- " << msg << std::endl \
<< AT << std::endl; \
- std::cerr << "WARN_GEQ failed: '" << #A << "'=" << A << " '" << #B \
+ std::cerr << "DYNO_WARN_GEQ failed: '" << #A << "'=" << A << " '" << #B \
<< "'=" << B << " -- " << msg << std::endl \
<< AT << std::endl; \
}
-#define CHECK_LEQ(A, B, msg) \
+#define DYNO_CHECK_LEQ(A, B, msg) \
if (!(A <= B)) { \
- std::cout << "CHECK_LEQ failed: '" << #A << "'=" << A << " '" << #B \
- << "'=" << B << " -- " << msg << std::endl \
+ std::cout << "DYNO_CHECK_LEQ failed: '" << #A << "'=" << A << " '" << #B \
+ << "'=" << B << " -- " << add_stacktrace(msg) << std::endl \
<< "AT: " << AT << std::endl; \
- throw std::runtime_error(msg); \
+ throw std::runtime_error(add_stacktrace(msg)); \
}
-#define CHECK_GE(A, B, msg) \
+#define DYNO_CHECK_GE(A, B, msg) \
if (!(A > B)) { \
- std::cout << "CHECK_GE failed: '" << #A << "'=" << A << " '" << #B \
- << "'=" << B << " -- " << msg << "AT: " << AT << std::endl; \
- throw std::runtime_error(msg); \
+ std::cout << "DYNO_CHECK_GE failed: '" << #A << "'=" << A << " '" << #B \
+ << "'=" << B << " -- " << add_stacktrace(msg) << "AT: " << AT \
+ << std::endl; \
+ throw std::runtime_error(add_stacktrace(msg)); \
}
-#define CHECK_SEQ(A, B, msg) \
+#define DYNO_CHECK_SEQ(A, B, msg) \
if (!(A <= B)) { \
- std::cout << "CHECK_SEQ failed: '" << #A << "'=" << A << " '" << #B \
- << "'=" << B << " -- " << msg << "AT: " << AT << std::endl; \
- throw std::runtime_error(msg); \
+ std::cout << "DYNO_CHECK_SEQ failed: '" << #A << "'=" << A << " '" << #B \
+ << "'=" << B << " -- " << add_stacktrace(msg) << "AT: " << AT \
+ << std::endl; \
+ throw std::runtime_error(add_stacktrace(msg)); \
}
#define ERROR_WITH_INFO(msg) \
throw std::runtime_error(std::string("--ERROR-- ") + __FILE__ + \
std::string(":") + std::to_string(__LINE__) + \
- " \"" + std::string(msg) + "\"\n");
+ " \"" + add_stacktrace(msg) + "\"\n");
#define NOT_IMPLEMENTED ERROR_WITH_INFO("not implemented")
#define WARN_WITH_INFO(msg) \
std::cout << __FILE__ + std::string(":") + std::to_string(__LINE__) + "\"" + \
- std::string(msg) + "\"\n" \
+ msg + "\"\n" \
<< std::endl;
diff --git a/include/dynobench/eigen_conversions.hpp b/include/dynobench/eigen_conversions.hpp
new file mode 100644
index 0000000..25dc7f0
--- /dev/null
+++ b/include/dynobench/eigen_conversions.hpp
@@ -0,0 +1,225 @@
+#pragma once
+
+#include
+#include
+
+#include "nlohmann/json.hpp"
+
+using json = nlohmann::json;
+
+/**
+ * Provide `to_json()` and `from_json()` overloads for `json`,
+ * which allows simple syntax like:
+ *
+ * @code
+ * Eigen::Matrix3f in, out;
+ *
+ * simox::json::json j;
+ * j = in;
+ * out = j.get();
+ * @endcode
+ *
+ * @test VirtualRobotJsonEigenConversionTest
+ *
+ * @see https://github.com/nlohmann/json#arbitrary-types-conversions
+ */
+namespace Eigen {
+
+// Eigen::MatrixBase (non-specialized).
+
+/// Writes the matrix as list of rows.
+template
+void to_json(json &j, const Eigen::Matrix<_Scalar, _Rows, _Cols, _Options,
+ _MaxRows, _MaxCols> &matrix);
+
+template
+void to_json(json &j, const Eigen::MatrixBase &matrix);
+
+/// Reads the matrix from list of rows.
+template
+void from_json(
+ const json &j,
+ Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> &matrix);
+
+template
+void from_json(const json &j, Eigen::MatrixBase &matrix);
+
+// Specialization for Eigen::Vector3f (implemented in .cpp)
+
+/// If `j` is an object, reads vector from `x, y, z` keys. Otherwise, reads it
+/// as matrix.
+void from_json(const json &j, Eigen::Vector3f &vector);
+
+// Specialization for Eigen::Matrix4f as transformation matrix (implemented in
+// .cpp).
+
+/**
+ * @brief Reads a 4x4 matrix from list of rows or `pos` and `ori` keys.
+ *
+ * If `j` is an object, reads `matrix` as transformation matrix from `pos` and
+ * `ori` keys. Otherweise, reads it from list of rows.
+ */
+void from_json(const json &j, Eigen::Matrix4f &matrix);
+
+// Eigen::Quaternion
+
+/// Writes the quaternion with `qw, qx, qy, qz` keys.
+template
+void to_json(json &j, const Eigen::QuaternionBase &quat);
+
+/// Reads the quaternion from `qw, qx, qy, qz` keys.
+template
+void from_json(const json &j, Eigen::QuaternionBase &quat);
+
+// Eigen::Transform (Isometry, Affine, ...)
+
+template
+void to_json(json &j, const Eigen::Transform &transform) {
+ to_json(j, transform.matrix());
+}
+
+template
+void from_json(const json &j, Eigen::Transform &transform) {
+ from_json(j, transform.matrix());
+}
+
+void inline from_json(const json &j, Eigen::VectorXd &vector) {
+ vector.resize(j.size());
+ for (std::size_t row = 0; row < j.size(); ++row) {
+ const auto &jrow = j.at(row);
+ vector(row) = jrow.get();
+ }
+}
+
+// IMPLEMENTATION
+
+namespace jsonbase {
+// "private" excplititly non-specialized implementation
+// (to make it callable from specialized implementations)
+// (anonymous namespace does not work because these functions are required
+// by specializations in the .cpp)
+
+/// Writes the matrix as list of rows.
+template
+void to_json(json &j, const Eigen::Matrix<_Scalar, _Rows, _Cols, _Options,
+ _MaxRows, _MaxCols> &matrix) {
+ for (int row = 0; row < matrix.rows(); ++row) {
+ if (matrix.cols() > 1) {
+ json jrow = json::array();
+ for (int col = 0; col < matrix.cols(); ++col) {
+ jrow.push_back(matrix(row, col));
+ }
+ j.push_back(jrow);
+ } else {
+ j.push_back(matrix(row, 0));
+ }
+ }
+}
+
+template
+void to_json(json &j, const Eigen::MatrixBase &matrix) {
+ for (int row = 0; row < matrix.rows(); ++row) {
+ if (matrix.cols() > 1) {
+ json jrow = json::array();
+ for (int col = 0; col < matrix.cols(); ++col) {
+ jrow.push_back(matrix(row, col));
+ }
+ j.push_back(jrow);
+ } else {
+ j.push_back(matrix(row, 0));
+ }
+ }
+}
+
+/// Reads the matrix from list of rows.
+template
+void from_json(const json &j, Eigen::Matrix<_Scalar, _Rows, _Cols, _Options,
+ _MaxRows, _MaxCols> &matrix) {
+ using Index = typename Eigen::Matrix<_Scalar, _Rows, _Cols, _Options,
+ _MaxRows, _MaxCols>::Index;
+
+ std::cout << "jsize" << j.size() << std::endl;
+
+ std::cout << "rows: " << matrix.rows() << std::endl;
+ std::cout << "cols: " << matrix.cols() << std::endl;
+
+ for (std::size_t row = 0; row < j.size(); ++row) {
+ const auto &jrow = j.at(row);
+ if (jrow.is_array()) {
+ for (std::size_t col = 0; col < jrow.size(); ++col) {
+ const auto &value = jrow.at(col);
+ matrix(static_cast(row), static_cast(col)) =
+ value.get<_Scalar>();
+ }
+ } else {
+ matrix(static_cast(row), 0) = jrow.get<_Scalar>();
+ }
+ }
+}
+
+template
+void from_json(const json &j, Eigen::MatrixBase &matrix) {
+ using Scalar = typename Eigen::MatrixBase::Scalar;
+ using Index = typename Eigen::MatrixBase::Index;
+
+ for (std::size_t row = 0; row < j.size(); ++row) {
+ const auto &jrow = j.at(row);
+ if (jrow.is_array()) {
+ for (std::size_t col = 0; col < jrow.size(); ++col) {
+ const auto &value = jrow.at(col);
+ matrix(static_cast(row), static_cast(col)) =
+ value.get();
+ }
+ } else {
+ matrix(static_cast(row), 0) = jrow.get();
+ }
+ }
+}
+} // namespace jsonbase
+
+template
+void to_json(json &j, const Eigen::Matrix<_Scalar, _Rows, _Cols, _Options,
+ _MaxRows, _MaxCols> &matrix) {
+ jsonbase::to_json(j, matrix);
+}
+
+template
+void to_json(json &j, const Eigen::MatrixBase &matrix) {
+ jsonbase::to_json(j, matrix);
+}
+
+template
+void from_json(const json &j, Eigen::Matrix<_Scalar, _Rows, _Cols, _Options,
+ _MaxRows, _MaxCols> &matrix) {
+ jsonbase::from_json(j, matrix);
+}
+
+template
+void from_json(const json &j, Eigen::MatrixBase &matrix) {
+ jsonbase::from_json(j, matrix);
+}
+
+template
+void to_json(json &j, const Eigen::QuaternionBase &quat) {
+ j["qw"] = quat.w();
+ j["qx"] = quat.x();
+ j["qy"] = quat.y();
+ j["qz"] = quat.z();
+}
+
+template
+void from_json(const json &j, Eigen::QuaternionBase &quat) {
+ using Scalar = typename Eigen::QuaternionBase::Scalar;
+ quat.w() = j.at("qw").get();
+ quat.x() = j.at("qx").get();
+ quat.y() = j.at("qy").get();
+ quat.z() = j.at("qz").get();
+}
+
+} // namespace Eigen
diff --git a/include/dynobench/general_utils.hpp b/include/dynobench/general_utils.hpp
index ae893bd..83bdba4 100644
--- a/include/dynobench/general_utils.hpp
+++ b/include/dynobench/general_utils.hpp
@@ -13,12 +13,16 @@
#include
#include
-#include "croco_macros.hpp"
+#include "dyno_macros.hpp"
#include "math_utils.hpp"
#include "yaml-cpp/yaml.h"
#include
#include
+#define BOOST_STACKTRACE_USE_ADDR2LINE
+
+#include
+
template using ptr = boost::shared_ptr;
template using ptrs = std::shared_ptr;
@@ -26,6 +30,9 @@ template auto mk(Args &&...args) {
return boost::make_shared(std::forward(args)...);
}
+#include
+using json = nlohmann::json;
+
inline std::string gen_random(const int len) {
static const char alphanum[] = "0123456789"
"ABCDEFGHIJKLMNOPQRSTUVWXYZ"
@@ -78,6 +85,13 @@ auto timed_fun(Fun fun, Args &&...args) {
out, std::chrono::duration(tac - tic).count());
}
+template auto timed_fun_void(Fun fun) {
+ auto tic = std::chrono::high_resolution_clock::now();
+ fun();
+ auto tac = std::chrono::high_resolution_clock::now();
+ return std::chrono::duration(tac - tic).count();
+}
+
namespace po = boost::program_options;
template bool __in(const std::vector &v, const T &val) {
@@ -335,3 +349,21 @@ struct Loader {
}
}
};
+
+namespace Eigen {
+
+void inline from_json(const json &j, Eigen::VectorXd &vector) {
+ vector.resize(j.size());
+ for (std::size_t row = 0; row < j.size(); ++row) {
+ const auto &jrow = j.at(row);
+ vector(row) = jrow.get();
+ }
+}
+
+void inline to_json(json &j, const Eigen::VectorXd &vector) {
+ for (int i = 0; i < vector.size(); ++i) {
+ j.push_back(vector(i));
+ }
+}
+
+} // namespace Eigen
diff --git a/include/dynobench/integrator1_2d.hpp b/include/dynobench/integrator1_2d.hpp
index eef9cf2..2f7c313 100644
--- a/include/dynobench/integrator1_2d.hpp
+++ b/include/dynobench/integrator1_2d.hpp
@@ -1,6 +1,7 @@
#pragma once
#include "Eigen/Core"
#include "croco_macros.hpp"
+#include "dyno_macros.hpp"
#include "dynobench/robot_models_base.hpp"
#include "fcl/broadphase/broadphase_collision_manager.h"
#include "general_utils.hpp"
@@ -67,6 +68,7 @@ struct Integrator1_2d : public Model_robot {
virtual void write_params(std::ostream &out) override { params.write(out); }
virtual int number_of_r_dofs();
+
// DISTANCE AND TIME (cost) - BOUNDS
// Distances and bounds are useuful in search/motion planning algorithms.
diff --git a/include/dynobench/integrator2_2d.hpp b/include/dynobench/integrator2_2d.hpp
index a25fa49..e76abcc 100644
--- a/include/dynobench/integrator2_2d.hpp
+++ b/include/dynobench/integrator2_2d.hpp
@@ -1,6 +1,6 @@
#pragma once
#include "Eigen/Core"
-#include "croco_macros.hpp"
+#include "dyno_macros.hpp"
#include "dynobench/robot_models_base.hpp"
#include "fcl/broadphase/broadphase_collision_manager.h"
#include "general_utils.hpp"
diff --git a/include/dynobench/math_utils.hpp b/include/dynobench/math_utils.hpp
index 4744403..4969311 100644
--- a/include/dynobench/math_utils.hpp
+++ b/include/dynobench/math_utils.hpp
@@ -2,7 +2,7 @@
#include
#include "Eigen/Core"
-#include "croco_macros.hpp"
+#include "dyno_macros.hpp"
#include
namespace dynobench {
@@ -12,8 +12,8 @@ const Eigen::IOFormat FMT(6, Eigen::DontAlignCols, ",", ",", "", "", "[", "]");
bool inline check_bounds(const Eigen::VectorXd &v, const Eigen::VectorXd &v_lb,
const Eigen::VectorXd &v_ub, double tol = 1e-10) {
- CHECK_EQ(v.size(), v_lb.size(), AT);
- CHECK_EQ(v.size(), v_lb.size(), AT);
+ DYNO_CHECK_EQ(v.size(), v_lb.size(), AT);
+ DYNO_CHECK_EQ(v.size(), v_lb.size(), AT);
size_t n = v.size();
for (size_t i = 0; i < n; i++) {
if (v(i) > v_ub(i) + tol || v(i) < v_lb(i) - tol) {
@@ -31,8 +31,8 @@ double inline check_bounds_distance(const Eigen::VectorXd &v,
const Eigen::VectorXd &v_lb,
const Eigen::VectorXd &v_ub) {
- CHECK_EQ(v.size(), v_lb.size(), AT);
- CHECK_EQ(v.size(), v_lb.size(), AT);
+ DYNO_CHECK_EQ(v.size(), v_lb.size(), AT);
+ DYNO_CHECK_EQ(v.size(), v_lb.size(), AT);
size_t n = v.size();
double max_distance = 0;
for (size_t i = 0; i < n; i++) {
@@ -51,15 +51,15 @@ double inline check_bounds_distance(const Eigen::VectorXd &v,
Eigen::VectorXd inline enforce_bounds(const Eigen::VectorXd &us,
const Eigen::VectorXd &lb,
const Eigen::VectorXd &ub) {
- CHECK_EQ(us.size(), lb.size(), AT);
- CHECK_EQ(us.size(), ub.size(), AT);
+ DYNO_CHECK_EQ(us.size(), lb.size(), AT);
+ DYNO_CHECK_EQ(us.size(), ub.size(), AT);
return us.cwiseMax(lb).cwiseMin(ub);
}
bool inline check_equal(Eigen::MatrixXd A, Eigen::MatrixXd B, double rtol,
double atol) {
- CHECK_EQ(A.rows(), B.rows(), AT);
- CHECK_EQ(A.cols(), B.cols(), AT);
+ DYNO_CHECK_EQ(A.rows(), B.rows(), AT);
+ DYNO_CHECK_EQ(A.cols(), B.cols(), AT);
auto dif = (A - B).cwiseAbs();
auto max_cwise = A.cwiseAbs().cwiseMax(B.cwiseAbs());
@@ -103,7 +103,7 @@ bool inline is_diagonal(const Eigen::Ref &mat,
}
template T inside_bounds(const T &i, const T &lb, const T &ub) {
- CHECK_GEQ(ub, lb, AT);
+ DYNO_DYNO_CHECK_GEQ(ub, lb, AT);
if (i < lb)
return lb;
@@ -508,10 +508,10 @@ inline std::string eigen_to_string(Eigen::Vector4d x) {
}
double inline so3_distance(const Eigen::Vector4d &x, const Eigen::Vector4d &y) {
double max_quaternion_norm_error = 1e-6;
- CHECK_LEQ(std::abs(x.norm() - 1), max_quaternion_norm_error,
- eigen_to_string(x));
- CHECK_LEQ(std::abs(y.norm() - 1), max_quaternion_norm_error,
- eigen_to_string(y));
+ DYNO_CHECK_LEQ(std::abs(x.norm() - 1), max_quaternion_norm_error,
+ eigen_to_string(x));
+ DYNO_CHECK_LEQ(std::abs(y.norm() - 1), max_quaternion_norm_error,
+ eigen_to_string(y));
double dq = std::fabs(x.dot(y));
if (dq > 1.0 - max_quaternion_norm_error)
return 0.0;
diff --git a/include/dynobench/motions.hpp b/include/dynobench/motions.hpp
index 9f3ee0e..15352d2 100644
--- a/include/dynobench/motions.hpp
+++ b/include/dynobench/motions.hpp
@@ -1,6 +1,6 @@
#pragma once
#include "Eigen/Core"
-#include "croco_macros.hpp"
+#include "dyno_macros.hpp"
#include "fcl/broadphase/broadphase_collision_manager.h"
#include "general_utils.hpp"
#include "math_utils.hpp"
@@ -67,6 +67,14 @@ double check_u_bounds(const std::vector &us_out,
double check_x_bounds(const std::vector &xs_out,
std::shared_ptr model, bool verbose);
+void resample_trajectory(std::vector &xs_out,
+ std::vector &us_out,
+ Eigen::VectorXd ×,
+ const std::vector &xs,
+ const std::vector &us,
+ const Eigen::VectorXd &ts, double ref_dt,
+ const std::shared_ptr &state);
+
void get_states_and_actions(const YAML::Node &data,
std::vector &states,
std::vector &actions);
@@ -102,6 +110,12 @@ struct Problem {
void read_from_yaml(const char *file);
void write_to_yaml(const char *file);
+
+ void to_yaml(std::ostream &out) {
+
+ NOT_IMPLEMENTED;
+ // TODO
+ }
};
// next: time optimal linear, use so2 space, generate motion primitives
@@ -224,66 +238,7 @@ struct Trajectory {
void check(std::shared_ptr robot, bool verbose = false);
std::vector
- find_discontinuities(std::shared_ptr &robot) {
-
- Eigen::VectorXd dts;
- if (!times.size()) {
- size_t T = actions.size();
- dts.resize(T);
- dts.setOnes();
- dts.array() *= robot->ref_dt;
- }
-
- CHECK(states.size(), AT);
- CHECK(actions.size(), AT);
- CHECK(robot, AT);
- CHECK_EQ(states.size(), actions.size() + 1, AT);
- CHECK_EQ(static_cast(dts.size()),
- static_cast(actions.size()), AT);
-
- size_t N = actions.size();
-
- double threshold = 1e-2;
-
- size_t start_primitive = 0;
- using Vxd = Eigen::VectorXd;
- std::vector trajectories;
- for (size_t i = 0; i < N; i++) {
- Vxd xnext(robot->nx);
- auto &x = states.at(i);
- auto &u = actions.at(i);
-
- robot->step(xnext, x, u, dts(i));
-
- double jump = robot->distance(xnext, states.at(i + 1));
- if (jump > threshold) {
- std::cout << "jump of " << jump << std::endl;
- CSTR_(i);
- CSTR_V(x);
- CSTR_V(u);
- CSTR_V(xnext);
- CSTR_V(states.at(i + 1));
-
- Trajectory traj;
- traj.states = {states.begin() + start_primitive,
- states.begin() + i + 1};
- traj.states.push_back(xnext);
- traj.actions = {actions.begin() + start_primitive,
- actions.begin() + i + 1};
- start_primitive = i + 1;
- trajectories.push_back(traj);
- }
- }
- // add the last one
- if (start_primitive < states.size()) {
- Trajectory traj;
- traj.states = {states.begin() + start_primitive, states.end()};
- traj.actions = {actions.begin() + start_primitive, actions.end()};
- trajectories.push_back(traj);
- }
-
- return trajectories;
- }
+ find_discontinuities(std::shared_ptr &robot);
void update_feasibility(
const Feasibility_thresholds &thresholds = Feasibility_thresholds(),
@@ -308,6 +263,10 @@ struct Trajectory {
void save_file_boost(const char *file) const;
void load_file_boost(const char *file);
+
+ Trajectory resample(std::shared_ptr &robot);
+
+ NLOHMANN_DEFINE_TYPE_INTRUSIVE(Trajectory, states, actions);
};
struct Trajectories {
@@ -362,8 +321,53 @@ struct Trajectories {
load_file_yaml(load_yaml_safe(file));
}
+ // TODO:
+ // From json to msgpack, and compare speeds!
+
void compute_stats(const char *filename_out) const;
+ void save_file_msgpack(const char *filename) {
+ std::ofstream fout(filename, std::ios::out | std::ios::binary);
+ CHECK(fout.is_open(), "");
+ std::vector v_msgpack = json::to_msgpack(json(*this));
+ fout.write((const char *)v_msgpack.data(), v_msgpack.size());
+ fout.close();
+ }
+
+ void load_file_msgpack(const char *filename) {
+
+ std::cout << "loading file msgpack " << filename << std::endl;
+ std::ifstream fin(filename, std::ios::in | std::ios::binary);
+
+ CHECK(fin.is_open(), "");
+ assert(fin.is_open());
+
+ std::vector contents;
+ fin.seekg(0, std::ios::end);
+ contents.resize(fin.tellg());
+ fin.seekg(0, std::ios::beg);
+ fin.read((char *)contents.data(), contents.size());
+ fin.close();
+
+ *this = Trajectories(json::from_msgpack(contents));
+ }
+
+ void save_file_json(const char *filename) {
+ std::ofstream out(filename);
+ CHECK(out.is_open(), "");
+ out << json(*this);
+ }
+
+ void load_file_json(const char *filename) {
+ std::ifstream in(filename);
+ CHECK(in.is_open(), "");
+ json j;
+ in >> j;
+ *this = Trajectories(j);
+ }
+
+ NLOHMANN_DEFINE_TYPE_INTRUSIVE(Trajectories, data);
+
//
};
@@ -371,14 +375,6 @@ double max_rollout_error(std::shared_ptr robot,
const std::vector &xs,
const std::vector &us);
-void resample_trajectory(std::vector &xs_out,
- std::vector &us_out,
- Eigen::VectorXd ×,
- const std::vector &xs,
- const std::vector &us,
- const Eigen::VectorXd &ts, double ref_dt,
- const std::shared_ptr &state);
-
struct Info_out {
bool solved = false;
bool solved_raw = false;
@@ -406,6 +402,38 @@ void load_env(Model_robot &robot, const Problem &problem);
//
// kModel_robot &robot, const Problem &problem) {
+inline Trajectory trajWrapper_2_Trajectory(TrajWrapper &traj_wrap) {
+
+ Trajectory out;
+ out.states.resize(traj_wrap.get_size());
+ out.actions.resize(traj_wrap.get_size() - 1);
+
+ for (size_t i = 0; i < traj_wrap.get_size(); i++) {
+ out.states.at(i) = traj_wrap.get_state(i);
+ }
+
+ for (size_t i = 0; i < traj_wrap.get_size() - 1; i++) {
+ out.actions.at(i) = traj_wrap.get_action(i);
+ }
+ return out;
+};
+
+inline TrajWrapper Trajectory_2_trajWrapper(Trajectory &traj) {
+ TrajWrapper traj_wrap;
+
+ traj_wrap.allocate_size(traj.states.size(), traj.states.front().size(),
+ traj.actions.front().size());
+
+ for (size_t i = 0; i < traj_wrap.get_size(); i++) {
+ traj_wrap.get_state(i) = traj.states.at(i);
+ }
+
+ for (size_t i = 0; i < traj_wrap.get_size() - 1; i++) {
+ traj_wrap.get_action(i) = traj.actions.at(i);
+ }
+ return traj_wrap;
+};
+
Trajectory from_welf_to_quim(const Trajectory &traj_raw, double u_nominal);
Trajectory from_quim_to_welf(const Trajectory &traj_raw, double u_nominal);
@@ -417,6 +445,9 @@ void make_trajs_canonical(Model_robot &robot,
const std::vector &trajs,
std::vector &trajs_canonical);
+bool is_motion_collision_free(dynobench::TrajWrapper &traj,
+ dynobench::Model_robot &robot);
+
} // namespace dynobench
//
//
diff --git a/include/dynobench/planar_rotor.hpp b/include/dynobench/planar_rotor.hpp
index 765aef7..7a588a6 100644
--- a/include/dynobench/planar_rotor.hpp
+++ b/include/dynobench/planar_rotor.hpp
@@ -107,7 +107,7 @@ struct Model_quad2d : Model_robot {
}
virtual Eigen::VectorXd get_x0(const Eigen::VectorXd &x) override {
- CHECK_EQ(static_cast(x.size()), nx, AT);
+ DYNO_CHECK_EQ(static_cast(x.size()), nx, AT);
Eigen::VectorXd out(nx);
out.setZero();
out.head(2) = x.head(2);
@@ -170,32 +170,58 @@ struct Model_quad2d : Model_robot {
virtual size_t get_offset_dim() override { return 4; }
+ virtual void transform_state(const Eigen::Ref &p,
+ const Eigen::Ref &xin,
+ Eigen::Ref xout) override {
+
+ CHECK((p.size() == 2 || p.size() == 4), AT);
+ if (p.size() == 2) {
+ Model_robot::transform_state(p, xin, xout);
+ } else if (p.size() == 4) {
+ xout = xin;
+ xout.head<2>() += p.head<2>();
+ xout.segment<2>(3) += p.tail<2>();
+ }
+ }
+
virtual void
- transform_primitive(const Eigen::Ref &p,
- const std::vector &xs_in,
- const std::vector &us_in,
- std::vector &xs_out,
- std::vector &us_out) override {
+ transform_primitive_last_state(const Eigen::Ref &p,
+ const std::vector &xs_in,
+ const std::vector &us_in,
+ Eigen::Ref x_out) override {
CHECK((p.size() == 2 || 4), AT);
- CHECK_EQ(us_out.size(), us_in.size(), AT);
- CHECK_EQ(xs_out.size(), xs_in.size(), AT);
- CHECK_EQ(xs_out.front().size(), xs_in.front().size(), AT);
- CHECK_EQ(us_out.front().size(), us_in.front().size(), AT);
-
if (p.size() == 2) {
- Model_robot::transform_primitive(p, xs_in, us_in, xs_out, us_out);
+ Model_robot::transform_primitive_last_state(p, xs_in, us_in, x_out);
+
} else {
+ x_out = xs_in.back();
+ x_out.head<2>() +=
+ p.head<2>() + us_in.size() * ref_dt * p.tail<2>(); // velocity
+ x_out.segment<2>(3) += p.tail<2>(); // velocity
+ }
+ }
- for (size_t i = 0; i < us_in.size(); i++) {
- us_out[i] = us_in[i];
- }
+ virtual void transform_primitive(
+ const Eigen::Ref &p,
+ const std::vector &xs_in,
+ const std::vector &us_in, TrajWrapper &traj_out,
+ // std::vector &xs_out,
+ // std::vector &us_out,
+ std::function)> *is_valid_fun = nullptr,
+ int *num_valid_states = nullptr) override {
- xs_out.front() = xs_in.front();
- xs_out.front().head(2) += p.head(2);
- xs_out.front().segment(3, 2) += p.tail(2);
- rollout(xs_out.front(), us_in, xs_out);
+ CHECK((p.size() == 2 || 4), AT);
+
+ if (p.size() == 2) {
+ Model_robot::transform_primitive(p, xs_in, us_in, traj_out,
+ // xs_out, us_out,
+ is_valid_fun, num_valid_states);
+ } else {
+ Model_robot::transform_primitive2(p, xs_in, us_in, traj_out,
+ // xs_out, us_out,
+ is_valid_fun, num_valid_states);
}
}
};
diff --git a/include/dynobench/planar_rotor_pole.hpp b/include/dynobench/planar_rotor_pole.hpp
index 19137b4..997c76e 100644
--- a/include/dynobench/planar_rotor_pole.hpp
+++ b/include/dynobench/planar_rotor_pole.hpp
@@ -112,13 +112,32 @@ struct Model_quad2dpole : Model_robot {
}
virtual Eigen::VectorXd get_x0(const Eigen::VectorXd &x) override {
- CHECK_EQ(static_cast(x.size()), nx, AT);
+ DYNO_CHECK_EQ(static_cast(x.size()), nx, AT);
Eigen::VectorXd out(nx);
out.setZero();
out.head(2) = x.head(2);
return out;
}
+ virtual void
+ transform_primitive_last_state(const Eigen::Ref &p,
+ const std::vector &xs_in,
+ const std::vector &us_in,
+ Eigen::Ref x_out) override {
+
+ CHECK((p.size() == 2 || 4), AT);
+
+ if (p.size() == 2) {
+ Model_robot::transform_primitive_last_state(p, xs_in, us_in, x_out);
+
+ } else {
+ x_out = xs_in.back();
+ x_out.head<2>() +=
+ p.head<2>() + us_in.size() * ref_dt * p.tail<2>(); // position
+ x_out.segment<2>(4) += p.tail<2>(); // velocity
+ }
+ }
+
virtual void sample_uniform(Eigen::Ref x) override;
virtual void calcV(Eigen::Ref v,
@@ -175,33 +194,41 @@ struct Model_quad2dpole : Model_robot {
virtual size_t get_offset_dim() override { return 4; }
- virtual void
- transform_primitive(const Eigen::Ref &p,
- const std::vector &xs_in,
- const std::vector &us_in,
- std::vector &xs_out,
- std::vector &us_out) override {
+ virtual void transform_state(const Eigen::Ref &p,
+ const Eigen::Ref &xin,
+ Eigen::Ref xout) override {
- CHECK_EQ(us_out.size(), us_in.size(), AT);
- CHECK_EQ(xs_out.size(), xs_in.size(), AT);
- CHECK_EQ(xs_out.front().size(), xs_in.front().size(), AT);
- CHECK_EQ(us_out.front().size(), us_in.front().size(), AT);
+ CHECK((p.size() == 2 || p.size() == 4), AT);
+ if (p.size() == 2) {
+ Model_robot::transform_state(p, xin, xout);
+ } else if (p.size() == 4) {
+ xout = xin;
+ xout.head<2>() += p.head<2>();
+ xout.segment<2>(4) += p.tail<2>();
+ }
+ }
+
+ void virtual transform_primitive(
+ const Eigen::Ref &p,
+ const std::vector &xs_in,
+ const std::vector &us_in, TrajWrapper &traj_out,
+ // std::vector &xs_out,
+ // std::vector &us_out,
+ std::function)> *is_valid_fun = nullptr,
+ int *num_valid_states = nullptr) override {
CHECK((p.size() == 2 || 4), AT);
if (p.size() == 2) {
- Model_robot::transform_primitive(p, xs_in, us_in, xs_out, us_out);
+ Model_robot::transform_primitive(p, xs_in, us_in, traj_out,
+ // xs_out, us_out,
+ is_valid_fun, num_valid_states);
} else {
-
- for (size_t i = 0; i < us_in.size(); i++) {
- us_out[i] = us_in[i];
- }
-
- xs_out.front() = xs_in.front();
- xs_out.front().head(2) += p.head(2);
- xs_out.front().segment(4, 2) += p.tail(2);
- rollout(xs_out.front(), us_in, xs_out);
+ Model_robot::transform_primitive2(p, xs_in, us_in, traj_out,
+ // xs_out, us_out,
+ is_valid_fun, num_valid_states);
}
}
};
} // namespace dynobench
+//
diff --git a/include/dynobench/quadrotor.hpp b/include/dynobench/quadrotor.hpp
index 804d05f..215994f 100644
--- a/include/dynobench/quadrotor.hpp
+++ b/include/dynobench/quadrotor.hpp
@@ -150,15 +150,36 @@ struct Model_quad3d : Model_robot {
}
virtual void
- transform_primitive(const Eigen::Ref &p,
- const std::vector &xs_in,
- const std::vector &us_in,
- std::vector &xs_out,
- std::vector &us_out) override;
+ transform_primitive_last_state(const Eigen::Ref &p,
+ const std::vector &xs_in,
+ const std::vector &us_in,
+ Eigen::Ref x_out) override {
+
+ assert(p.size() == 3 || 6);
+
+ if (p.size() == 3) {
+ Model_robot::transform_primitive_last_state(p, xs_in, us_in, x_out);
+
+ } else {
+ x_out = xs_in.back();
+ x_out.head<3>() +=
+ p.head<3>() + us_in.size() * ref_dt * p.tail<3>(); // velocity
+ x_out.segment<3>(7) += p.tail<3>(); // velocity
+ }
+ }
+
+ void virtual transform_primitive(
+ const Eigen::Ref &p,
+ const std::vector &xs_in,
+ const std::vector &us_in, TrajWrapper &traj_out,
+ // std::vector &xs_out,
+ // std::vector &us_out,
+ std::function)> *is_valid_fun = nullptr,
+ int *num_valid_states = nullptr) override;
virtual void offset(const Eigen::Ref &xin,
Eigen::Ref p) override {
- CHECK_EQ(p.size(), 6, AT);
+ DYNO_CHECK_EQ(p.size(), 6, AT);
if (adapt_vel) {
p.head<3>() = xin.head<3>();
p.tail<3>() = xin.segment<3>(7);
@@ -189,6 +210,7 @@ struct Model_quad3d : Model_robot {
if (p.size() == 3) {
Model_robot::transform_state(p, xin, xout);
} else if (p.size() == 6) {
+ xout = xin;
xout.head<3>() += p.head<3>();
xout.segment<3>(7) += p.tail<3>();
}
diff --git a/include/dynobench/robot_models.hpp b/include/dynobench/robot_models.hpp
index 5e54aab..e84e121 100644
--- a/include/dynobench/robot_models.hpp
+++ b/include/dynobench/robot_models.hpp
@@ -1,6 +1,6 @@
#pragma once
#include "Eigen/Core"
-#include "croco_macros.hpp"
+#include "dyno_macros.hpp"
#include "fcl/broadphase/broadphase_collision_manager.h"
#include "for_each_macro.hpp"
#include "general_utils.hpp"
@@ -41,5 +41,9 @@ std::unique_ptr
joint_robot_factory(const std::vector &robot_types,const Eigen::VectorXd &p_lb = Eigen::VectorXd(),
const Eigen::VectorXd &p_ub =Eigen::VectorXd());
+bool check_edge_at_resolution(const Eigen::VectorXd &start,
+ const Eigen::VectorXd &goal,
+ std::shared_ptr &robot,
+ double resolution);
} // namespace dynobench
diff --git a/include/dynobench/robot_models_base.hpp b/include/dynobench/robot_models_base.hpp
index 53e13db..28af49e 100644
--- a/include/dynobench/robot_models_base.hpp
+++ b/include/dynobench/robot_models_base.hpp
@@ -1,6 +1,6 @@
#pragma once
#include "Eigen/Core"
-#include "croco_macros.hpp"
+#include "dyno_macros.hpp"
#include "fcl/broadphase/broadphase_collision_manager.h"
#include "general_utils.hpp"
#include "math_utils.hpp"
@@ -22,8 +22,65 @@
namespace dynobench {
-static constexpr double low__ = -std::sqrt(std::numeric_limits::max());
-static constexpr double max__ = std::sqrt(std::numeric_limits::max());
+// TODO: try to allocate states and controls together, and see if there is
+// speedup due to better data locality
+struct TrajWrapper {
+
+ size_t get_size() const { return size; }
+
+ void set_size(size_t i) {
+ assert(i <= states.cols());
+ size = i;
+ }
+
+ void allocate_size(size_t i, size_t t_nx, size_t t_nu) {
+ nx = t_nx;
+ nu = t_nu;
+ size = i;
+ states = Eigen::MatrixXd::Zero(nx, i);
+ actions = Eigen::MatrixXd::Zero(nu, i - 1);
+ }
+
+ auto get_state(size_t i) {
+ assert(i < size);
+ assert(i < states.cols());
+ return states.col(i);
+ }
+
+ auto get_action(size_t i) {
+ assert(i < size - 1);
+ assert(i < states.cols());
+ return actions.col(i);
+ }
+
+ std::vector get_states() {
+ std::vector states_vec;
+ states_vec.reserve(get_size());
+ for (size_t i = 0; i < get_size(); i++) {
+ states_vec.push_back(get_state(i));
+ }
+ return states_vec;
+ }
+
+ std::vector get_actions() {
+ std::vector actions_vec;
+ actions_vec.reserve(get_size());
+ for (size_t i = 0; i < get_size() - 1; i++) {
+ actions_vec.push_back(get_action(i));
+ }
+ return actions_vec;
+ }
+
+private:
+ size_t size;
+ Eigen::MatrixXd states;
+ Eigen::MatrixXd actions;
+ size_t nx;
+ size_t nu;
+};
+
+static double low__ = -std::sqrt(std::numeric_limits::max());
+static double max__ = std::sqrt(std::numeric_limits::max());
struct Obstacle {
std::string type;
@@ -51,12 +108,12 @@ static std::vector DEFAULT_V;
static Eigen::VectorXd DEFAULT_E;
// next: time optimal linear, use so2 space, generate motion primitives
-struct StateQ {
+struct StateDyno {
size_t nx;
size_t ndx;
- StateQ(size_t nx, size_t ndx) : nx(nx), ndx(ndx) {}
+ StateDyno(size_t nx, size_t ndx) : nx(nx), ndx(ndx) {}
virtual Eigen::VectorXd zero() const { ERROR_WITH_INFO("not implemented"); }
@@ -117,12 +174,12 @@ struct StateQ {
}
};
-struct CompoundState2 : StateQ {
+struct CompoundState2 : StateDyno {
- std::shared_ptr s1;
- std::shared_ptr s2;
+ std::shared_ptr s1;
+ std::shared_ptr s2;
- CompoundState2(std::shared_ptr s1, std::shared_ptr s2);
+ CompoundState2(std::shared_ptr s1, std::shared_ptr s2);
virtual ~CompoundState2(){};
virtual Eigen::VectorXd zero() const override;
@@ -143,14 +200,14 @@ struct CompoundState2 : StateQ {
Eigen::Ref Jsecond) const override;
};
-struct RnSOn : StateQ {
+struct RnSOn : StateDyno {
size_t nR;
size_t nSO2;
const std::vector so2_indices;
RnSOn(size_t nR, size_t nSO2, const std::vector &so2_indices)
- : StateQ(nR + nSO2, nR + nSO2), so2_indices(so2_indices) {
- CHECK_EQ(so2_indices.size(), nSO2, AT);
+ : StateDyno(nR + nSO2, nR + nSO2), so2_indices(so2_indices) {
+ DYNO_CHECK_EQ(so2_indices.size(), nSO2, AT);
}
virtual ~RnSOn(){};
@@ -178,10 +235,10 @@ struct RnSOn : StateQ {
Eigen::Ref Jsecond) const override;
};
-struct Rn : StateQ {
+struct Rn : StateDyno {
size_t nR;
- Rn(size_t nR) : StateQ(nR, nR) {}
+ Rn(size_t nR) : StateDyno(nR, nR) {}
virtual ~Rn() {}
virtual Eigen::VectorXd zero() const override;
@@ -220,6 +277,11 @@ struct Model_robot {
bool invariance_reuse_col_shape = true;
bool is_2d;
+
+ bool transform_primitive_last_state_available = true;
+ // true means that we can know the last state of the transformed primitive
+ // without doing the full rollout
+
size_t translation_invariance = 0; // e.g. 1, 2 , 3, ...
std::vector x_desc;
std::vector u_desc;
@@ -270,7 +332,7 @@ struct Model_robot {
}
// State
- std::shared_ptr state;
+ std::shared_ptr state;
// crocoddyl::StateAbstractTpl> state;
@@ -292,7 +354,7 @@ struct Model_robot {
//
//
Model_robot() = default;
- Model_robot(std::shared_ptr state, size_t nu);
+ Model_robot(std::shared_ptr state, size_t nu);
// Returns x_0 for optimization. Can depend on a reference point. Default:
// return the ref point. Reasoning: in some systems, it is better to set the
@@ -300,12 +362,12 @@ struct Model_robot {
virtual Eigen::VectorXd get_x0(const Eigen::VectorXd &x) { return x; }
void set_position_ub(const Eigen::Ref &p_ub) {
- CHECK_EQ(static_cast(p_ub.size()), translation_invariance, AT);
+ DYNO_CHECK_EQ(static_cast(p_ub.size()), translation_invariance, AT);
x_ub.head(translation_invariance) = p_ub;
}
void set_position_lb(const Eigen::Ref &p_lb) {
- CHECK_EQ(static_cast(p_lb.size()), translation_invariance, AT);
+ DYNO_CHECK_EQ(static_cast(p_lb.size()), translation_invariance, AT);
x_lb.head(translation_invariance) = p_lb;
}
@@ -332,7 +394,7 @@ struct Model_robot {
virtual void
setPositionBounds(const Eigen::Ref &p_lb,
const Eigen::Ref &p_ub) {
- CHECK_EQ(p_lb.size(), p_ub.size(), AT);
+ DYNO_CHECK_EQ(p_lb.size(), p_ub.size(), AT);
CHECK((static_cast(p_lb.size()) == 2 ||
static_cast(p_lb.size()) == 3),
AT);
@@ -420,80 +482,113 @@ struct Model_robot {
virtual double distance(const Eigen::Ref &x,
const Eigen::Ref &y);
- virtual void rollout(const Eigen::Ref &x0,
- const std::vector &us,
- std::vector &xs) {
- CHECK_EQ(us.size() + 1, xs.size(), AT);
+ virtual void rollout(
+ const Eigen::Ref &x0,
+ const std::vector &us, std::vector &xs,
+ std::function)> *is_valid_fun = nullptr,
+ int *num_valid_states = nullptr) {
+ DYNO_CHECK_EQ(us.size() + 1, xs.size(), AT);
+ DYNO_CHECK_EQ(bool(is_valid_fun), bool(num_valid_states), AT);
+ if (num_valid_states) {
+ *num_valid_states = xs.size();
+ }
xs.at(0) = x0;
for (size_t i = 0; i < us.size(); i++) {
step(xs.at(i + 1), xs.at(i), us.at(i), ref_dt);
+ if (is_valid_fun && !(*is_valid_fun)(xs.at(i + 1))) {
+ if (num_valid_states) {
+ *num_valid_states = i + 1;
+ }
+ break;
+ }
+ }
+ }
+
+ virtual void rollout(
+ const Eigen::Ref &x0,
+ const std::vector &us, TrajWrapper &traj,
+ std::function)> *is_valid_fun = nullptr,
+ int *num_valid_states = nullptr) {
+
+ DYNO_CHECK_EQ(bool(is_valid_fun), bool(num_valid_states), AT);
+ if (num_valid_states) {
+ *num_valid_states = traj.get_size();
+ }
+ traj.get_state(0) = x0;
+ for (size_t i = 0; i < us.size(); i++) {
+ step(traj.get_state(i + 1), traj.get_state(i), us.at(i), ref_dt);
+ if (is_valid_fun && !(*is_valid_fun)(traj.get_state(i + 1))) {
+ if (num_valid_states) {
+ *num_valid_states = i + 1;
+ }
+ break;
+ }
}
}
virtual void transform_state(const Eigen::Ref &p,
const Eigen::Ref &xin,
Eigen::Ref xout) {
-
xout = xin;
xout.head(translation_invariance) += p;
}
virtual void canonical_state(const Eigen::Ref &xin,
Eigen::Ref xout) {
-
xout = xin;
xout.head(translation_invariance).setZero();
}
virtual void offset(const Eigen::Ref &xin,
Eigen::Ref p) {
-
- CHECK_EQ(static_cast(p.size()), translation_invariance, AT);
+ DYNO_CHECK_EQ(static_cast(p.size()), translation_invariance, AT);
p = xin.head(translation_invariance);
}
virtual size_t get_offset_dim() { return translation_invariance; }
- virtual void transform_primitive(const Eigen::Ref &p,
- const std::vector &xs_in,
- const std::vector &us_in,
- std::vector &xs_out,
- std::vector &us_out) {
-
- // basic transformation is translation invariance
- CHECK_EQ(static_cast(p.size()), translation_invariance, "");
- // TODO: avoid memory allocation inside this function!!
-
- CHECK_EQ(us_out.size(), us_in.size(), AT);
- CHECK_EQ(xs_out.size(), xs_in.size(), AT);
- CHECK_EQ(xs_out.front().size(), xs_in.front().size(), AT);
- CHECK_EQ(us_out.front().size(), us_in.front().size(), AT);
-
- for (size_t i = 0; i < us_in.size(); i++) {
- us_out[i] = us_in[i];
- }
+ virtual void
+ transform_primitive_last_state(const Eigen::Ref &p,
+ const std::vector &xs_in,
+ const std::vector &us_in,
+ Eigen::Ref x_out) {
+ assert(xs_in.size());
+ assert(us_in.size() == xs_in.size() - 1);
if (translation_invariance) {
- for (size_t i = 0; i < xs_in.size(); i++) {
- xs_out[i] = xs_in[i];
- xs_out[i].head(translation_invariance) += p;
- }
+ x_out = xs_in.back();
+ x_out.head(translation_invariance) += p;
} else {
- for (size_t i = 0; i < xs_in.size(); i++) {
- xs_out[i] = xs_in[i];
- }
+ x_out = xs_in.back();
}
}
+ virtual void transform_primitive2(
+ const Eigen::Ref &p,
+ const std::vector &xs_in,
+ const std::vector &us_in, TrajWrapper &traj_out,
+ // std::vector &xs_out,
+ // std::vector &us_out,
+ std::function)> *is_valid_fun = nullptr,
+ int *num_valid_states = nullptr);
+
+ virtual void transform_primitive(
+ const Eigen::Ref &p,
+ const std::vector &xs_in,
+ const std::vector &us_in, TrajWrapper &traj_out,
+ // std::vector &xs_out,
+ // std::vector &us_out,
+ std::function)> *is_valid_fun = nullptr,
+ int *num_valid_states = nullptr);
+
// x1 - x0
virtual void state_diff(Eigen::Ref r,
const Eigen::Ref &x0,
const Eigen::Ref &x1) {
-
// lets just use state
- CHECK_EQ(r_weight.size(), r.size(), AT);
- CHECK_EQ(x0.size(), x1.size(), AT);
+ DYNO_CHECK_EQ(r_weight.size(), r.size(), AT);
+ DYNO_CHECK_EQ(x0.size(), x1.size(), AT);
state->diff(x0, x1, r);
r.array() *= r_weight.array();
}
@@ -502,10 +597,9 @@ struct Model_robot {
Eigen::Ref Jx1,
const Eigen::Ref &x0,
const Eigen::Ref