Configuration Reference

All configuration structs, fields, and presets.

PlannerConfig

Controls motion planner behavior. Used by all planners through the Planner facade.

Fields

Field	Type	Default	Description
`timeout`	Duration	50ms	Maximum planning time before timeout
`max_iterations`	usize	10,000	Upper bound on sampling/expansion iterations
`collision_margin`	f64	0.02	Minimum clearance from obstacles (meters)
`shortcut_iterations`	usize	100	Number of random-shortcut passes
`smooth`	bool	true	Apply B-spline smoothing after shortcutting
`workspace_bounds`	`Option<[f64; 6]>`	None	[min_x, min_y, min_z, max_x, max_y, max_z]

Presets

PlannerConfig::default() – General purpose.

#![allow(unused)]
fn main() {
PlannerConfig {
    timeout: Duration::from_millis(50),
    max_iterations: 10_000,
    collision_margin: 0.02,
    shortcut_iterations: 100,
    smooth: true,
    workspace_bounds: None,
}
}

PlannerConfig::realtime() – Low-latency planning (10ms budget).

#![allow(unused)]
fn main() {
PlannerConfig {
    timeout: Duration::from_millis(10),
    max_iterations: 2_000,
    collision_margin: 0.01,
    shortcut_iterations: 20,
    smooth: false,
    workspace_bounds: None,
}
}

PlannerConfig::offline() – Thorough offline planning (500ms budget).

#![allow(unused)]
fn main() {
PlannerConfig {
    timeout: Duration::from_millis(500),
    max_iterations: 100_000,
    collision_margin: 0.02,
    shortcut_iterations: 500,
    smooth: true,
    workspace_bounds: None,
}
}

IKConfig

Controls inverse kinematics solver behavior.

Fields

Field	Type	Default	Description
`solver`	IKSolver	Auto	Solver selection (Auto, DLS, FABRIK, OPW, Subproblem, Subproblem7DOF)
`mode`	IKMode	Full6D	Full6D, PositionOnly, or PositionFallback
`max_iterations`	usize	100	Max iterations for iterative solvers
`position_tolerance`	f64	1e-4	Position convergence tolerance (meters)
`orientation_tolerance`	f64	1e-3	Orientation convergence tolerance (radians)
`check_limits`	bool	true	Enforce joint limits
`seed`	`Option<Vec<f64>>`	None	Starting configuration (uses mid-config if None)
`null_space`	`Option<NullSpace>`	None	Null-space objective for redundant robots
`num_restarts`	usize	0	Random restart count for escaping local minima

Solver Options

Solver	Constructor	Best For
Auto	`IKConfig::default()`	Automatic selection based on robot geometry
DLS	`IKConfig::dls()`	General purpose, any DOF
FABRIK	`IKConfig::fabrik()`	Position-focused tasks
OPW	`IKConfig::opw()`	6-DOF spherical wrist robots
Subproblem	Direct construction	6-DOF intersecting wrist axes
Subproblem7DOF	Direct construction	7-DOF robots

Convenience Constructors

#![allow(unused)]
fn main() {
IKConfig::dls()             // DLS with default damping 0.05
IKConfig::fabrik()          // FABRIK solver
IKConfig::opw()             // OPW analytical solver
IKConfig::position_only()   // Position-only mode
IKConfig::with_fallback()   // Try Full6D, fall back to PositionOnly
}

ServoConfig

Controls the reactive servo controller for teleoperation and tracking.

Fields

Field	Type	Default	Description
`rate_hz`	f64	500.0	Control loop rate
`input_type`	InputType	Twist	Twist, JointJog, or PoseTracking
`collision_check_hz`	f64	100.0	Collision check frequency
`singularity_threshold`	f64	0.02	Manipulability threshold
`slowdown_distance`	f64	0.15	Distance to start decelerating (meters)
`stop_distance`	f64	0.03	Emergency stop distance (meters)
`velocity_limits`	`Vec<f64>`	[]	Per-joint vel limits (empty = use robot)
`acceleration_limits`	`Vec<f64>`	[]	Per-joint accel limits (empty = defaults)
`pose_tracking_gain`	f64	5.0	Proportional gain for pose tracking
`singularity_damping`	f64	0.05	Damping for singularity-robust pseudoinverse
`max_delta_per_tick`	f64	0.02	Max position change per tick (radians)

Presets

ServoConfig::teleop() – General teleoperation (joystick, spacemouse). Uses Twist input, generous collision margins, moderate precision.

ServoConfig::tracking() – Pose tracking (following a moving target). Higher tracking gain (10.0), tighter collision checking (200 Hz), PoseTracking input mode.

ServoConfig::precise() – Precise manipulation (assembly, insertion). Small movements per tick (0.005 rad), tight singularity avoidance, fine collision checking (250 Hz).

GpuConfig

Controls GPU-accelerated trajectory optimization.

Fields

Field	Type	Default	Description
`num_seeds`	u32	128	Number of parallel trajectory seeds
`timesteps`	u32	32	Waypoints per trajectory
`iterations`	u32	100	Gradient descent iterations
`collision_weight`	f32	100.0	SDF collision cost weight
`smoothness_weight`	f32	1.0	Jerk minimization weight
`goal_weight`	f32	50.0	Goal-reaching cost weight
`step_size`	f32	0.01	Gradient descent step size
`sdf_resolution`	f32	0.02	SDF voxel resolution (meters)
`workspace_bounds`	[f32; 6]	[-1,-1,-0.5,1,1,1.5]	SDF workspace bounds
`seed_perturbation`	f32	0.3	Random perturbation magnitude (radians)
`warm_start`	Option	None	Initial trajectory from RRT

Presets

GpuConfig::balanced() – Default, good balance of speed and quality. 128 seeds, 32 timesteps, 100 iterations.

GpuConfig::speed() – Fast optimization for real-time replanning. 32 seeds, 24 timesteps, 30 iterations, coarse SDF (0.05m).

GpuConfig::quality() – High-quality offline optimization. 512 seeds, 48 timesteps, 200 iterations, fine SDF (0.01m).

ExecutionConfig

Controls trajectory execution on hardware.

Fields

Field	Type	Default	Description
`rate_hz`	f64	500.0	Command streaming rate
`position_tolerance`	f64	0.1	Max position deviation (radians)
`velocity_tolerance`	f64	0.5	Max velocity deviation (rad/s)
`timeout_factor`	f64	2.0	Abort if execution exceeds expected_time * factor
`joint_limits`	Option	None	[(lower, upper)] for pre-execution validation
`command_timeout_ms`	u64	100	Per-command timeout
`require_feedback`	bool	false	Require FeedbackSource for monitoring
`watchdog`	Option	None	Safety watchdog configuration

Presets

ExecutionConfig::default() – Simulation and testing. Relaxed tolerances, no feedback required, no watchdog.

ExecutionConfig::safe(&robot) – Production deployment. Auto-populates joint limits from URDF, enables feedback requirement, configures safety watchdog (50ms timeout, ZeroVelocity action).

#![allow(unused)]
fn main() {
let config = ExecutionConfig::safe(&robot);
}

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Kinetic — Motion Planning for Robotics