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  1. Yes. Most of the default primitives prefer forward motion.
  2. Absolutely. You'll need to write your own motion primitives that don't have a penalty on reverse motion. The stock motion primitives are generated by matlab code in the sbpl/matlab/mprim directory. The primitive generation is fairly well documented, so it shouldn't be too hard to modify.
  1. Yes. Most of the default primitives prefer forward motion.
  2. Absolutely. You'll need to write your own motion primitives that don't have a penalty on reverse motion. The stock motion primitives are generated by matlab code in the sbpl/matlab/mprim directory. The primitive generation is fairly well documented, so it shouldn't be too hard to modify.

@ben points out that there is a tutorial on editing SBPL motion primitives: http://sbpl.net/node/52