constants.py

"""Project-wide numeric constants and defaults.

Place all tunable "magic numbers" here so they are easy to discover and tweak.
"""
from typing import Tuple

# Sampling (table / cube placement)
DEFAULT_TABLE_Z_RANGE: Tuple[float, float] = (0.93, 1.3)
DEFAULT_CHECK_COLLISIONS: bool = True

# RRT / planning
DEFAULT_NUM_ITER: int = 500
DEFAULT_DISCRETISATION_STEPS: int = 8
DEFAULT_CHECK_EDGE_STEPS: int = 1000
EDGE_DISTANCE_TOL: float = 1e-3

# Visualization / interactive refresh defaults
DEFAULT_VIZ_DELAY: float = 0.01  # seconds to sleep after updating viz
SAMPLE_DISPLAY_EVERY: int = 1    # display every N samples when visualizing sampling
# Fraction of the table extents to use when creating a restricted sampling region
DEFAULT_SAMPLER_SHRINK: float = 0.3
# When sampling on the vertical plane, allow a small half-width (meters) perpendicular to the plane
DEFAULT_PLANE_HALF_WIDTH: float = 0.02

# Planner-specific defaults (tunable)
DEFAULT_REPAIR_ATTEMPTS: int = 5
DEFAULT_GOAL_BIAS: float = 0.03
DEFAULT_MAX_IK_ATTEMPTS: int = 3
DEFAULT_MAX_TIME_S: float = 30.0

# Preset bundles for convenience: 'fast', 'default', 'robust'
PRESETS = {
	'fast': {
		'num_iter': 200,
		'discretisation': 8,
		'repair_attempts': 3,
		'goal_bias': 0.02,
		'max_ik_attempts': 3,
		'max_time_s': 15.0,
	},
	'default': {
		'num_iter': 500,
		'discretisation': 8,
		'repair_attempts': 5,
		'goal_bias': 0.03,
		'max_ik_attempts': 3,
		'max_time_s': 30.0,
	},
	'robust': {
		'num_iter': 1000,
		'discretisation': 10,
		'repair_attempts': 8,
		'goal_bias': 0.05,
		'max_ik_attempts': 5,
		'max_time_s': 60.0,
	}
}