start_position -2.000 -2.000 0.000
goal_position 2.000 2.000 0.000
vis_graph_status test
step_planner_status dev
a_star_iteration_limit 12000
plan_then_snap_status test
vis_graph_with_a_star_iteration_limit 700
quadruped_planner_status dev
quadruped_timeout 100.0
requires_occlusion false