s:0.075
v:0.12
delta: 0.12
delta_clamp: [0.05,1.]

no witness disturbance
frontier node selection active

quality threshold scores:

1: 2.9550786
2: 2.5031433
4: 2.359734
6: 1.3488877
8: 1.1966971
12: 1.053702
16: 0.95340395

start: pos = [0.2,0.2,0.], theta: 0
goal: pos = [0.8,0.8,0.4] +- [0.075,0.075,0.075], theta: _