From c2dadcc3518aeb4736285aa9c8b5b30edf3dc30b Mon Sep 17 00:00:00 2001 From: Jarek Karwowski Date: Wed, 3 Jan 2024 01:37:25 +0100 Subject: [PATCH] `config` - retuned the `heading_dir_scale` of a social c.f. [#92] - too high forced the robot to turn very late in the hall eval. scenario --- cfg/HumapPlanner.cfg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cfg/HumapPlanner.cfg b/cfg/HumapPlanner.cfg index c07495a0..e97b794d 100755 --- a/cfg/HumapPlanner.cfg +++ b/cfg/HumapPlanner.cfg @@ -206,7 +206,7 @@ group_cost.add("backward_scale", double_t, 0, "The weight for the backward motio group_cost.add("heading_change_smoothness_scale", double_t, 0, "The weight for the cost function that penalizes robot rotational velocity changes", 11.0, 0.0) group_cost.add("velocity_smoothness_scale", double_t, 0, "The weight for the cost function that penalizes velocity changes along trajectory", 15.0, 0.0) group_cost.add("backward_penalty", double_t, 0, "Penalty (cost) value assigned to trajectory that starts with backward motion", 25.0, 0.0) -group_cost.add("heading_dir_scale", double_t, 0, "The weight for the cost function that penalizes trajectories that leading towards human center", 150.0, 0.0) +group_cost.add("heading_dir_scale", double_t, 0, "The weight for the cost function that penalizes trajectories that leading towards human center", 75.0, 0.0) group_cost.add("personal_space_scale", double_t, 0, "The weight for the cost function that penalizes trajectories that intrude human personal space", 100.0, 0.0) group_cost.add("fformation_space_scale", double_t, 0, "The weight for the cost function that penalizes trajectories that intrude F-formation space", 100.0, 0.0) group_cost.add("passing_speed_scale", double_t, 0, "The weight for the cost function that penalizes robot trajectories that are not compliant with proper speeds of passing people", 15.0, 0.0)