dual_variable_warm_start_config {
    weight_d: 1.0
    ipopt_config {
    ipopt_print_level: 0
    mumps_mem_percent: 6000
    mumps_pivtol: 1e-06
    ipopt_max_iter: 100
    ipopt_tol: 1e-05
    ipopt_acceptable_constr_viol_tol: 0.1
    ipopt_min_hessian_perturbation: 1e-12
    ipopt_jacobian_regularization_value: 1e-07
    ipopt_print_timing_statistics: "yes"
    ipopt_alpha_for_y: "min"
    ipopt_recalc_y: "yes"
    }
    qp_format: OSQP
    min_safety_distance: 0.01
    osqp_config {
    alpha: 1.0
    eps_abs: 1.0e-3
    eps_rel: 1.0e-3
    max_iter: 10000
    polish: true
    osqp_debug_log: false
    }
}
distance_approach_config {
    weight_steer: 0.3
    weight_a: 1.1
    weight_steer_rate: 3.0
    weight_a_rate: 2.5
    weight_x: 2.3
    weight_y: 0.7
    weight_phi: 1.5
    weight_v: 0.0
    weight_steer_stitching: 1.75
    weight_a_stitching: 3.25
    weight_first_order_time: 4.25
    weight_second_order_time: 13.5
    weight_end_state: 1.0
    weight_slack: 1.0
    min_safety_distance: 0.01
    max_speed_forward: 2.0
    max_speed_reverse: 1.0
    max_acceleration_forward: 2.0
    max_acceleration_reverse: 1.0
    min_time_sample_scaling: 0.8
    max_time_sample_scaling: 1.2
    use_fix_time: false
    ipopt_config {
    ipopt_print_level: 0
    mumps_mem_percent: 6000
    mumps_pivtol: 1e-06
    ipopt_max_iter: 1000
    ipopt_tol: 0.0001
    ipopt_acceptable_constr_viol_tol: 0.1
    ipopt_min_hessian_perturbation: 1e-12
    ipopt_jacobian_regularization_value: 1e-07
    ipopt_print_timing_statistics: "yes"
    ipopt_alpha_for_y: "min"
    ipopt_recalc_y: "yes"
    ipopt_mu_init: 0.1
    }
    enable_constraint_check: false
    enable_initial_final_check: false
    enable_jacobian_ad: false
    enable_hand_derivative: false
    enable_derivative_check: false
    distance_approach_mode: DISTANCE_APPROACH_IPOPT_RELAX_END_SLACK
    enable_check_initial_state: false
}
iterative_anchoring_smoother_config {
    interpolated_delta_s: 0.1
    reanchoring_trails_num: 50
    reanchoring_pos_stddev: 0.25
    reanchoring_length_stddev: 1.0
    estimate_bound: false
    default_bound: 2.0
    vehicle_shortest_dimension: 1.04
    fem_pos_deviation_smoother_config {
    use_sqp: true
    weight_fem_pos_deviation: 1e7
    weight_path_length: 0.0
    weight_ref_deviation: 1e3
    apply_curvature_constraint: true
    weight_curvature_constraint_slack_var: 1e3
    curvature_constraint: 0.18
    max_iter: 500
    time_limit: 0.0
    verbose: false
    scaled_termination: true
    warm_start: true
    }
    collision_decrease_ratio: 0.9
}
enable_trajectory_optimize_thread: true
