From 1fd3ba1c90e956a79b4db5e3dcb8ed6834d8bb9a Mon Sep 17 00:00:00 2001
From: Alex AUTERNAUD <alex.auternaud@inria.fr>
Date: Wed, 23 Feb 2022 18:09:32 +0100
Subject: [PATCH] new parameter in config
---
social_mpc/config/config.py | 5 +++--
social_mpc/config/social_mpc.yaml | 12 +++++++-----
2 files changed, 10 insertions(+), 7 deletions(-)
diff --git a/social_mpc/config/config.py b/social_mpc/config/config.py
index 422fdd7..466066a 100644
--- a/social_mpc/config/config.py
+++ b/social_mpc/config/config.py
@@ -84,7 +84,8 @@ class ControllerConfig(TemplatedConfig):
"goal_loop_time": float,
"goal_finder_enabled": bool,
"path_planner_enabled": bool,
- "update_goals_enabled": bool
+ "update_goals_enabled": bool,
+ "dilation_iter": int
}
@@ -135,4 +136,4 @@ class RobotConfig(TemplatedConfig):
"base_cam_fov_h" : float,
"has_pan" : bool,
"has_tilt" : bool
- }
+ }
\ No newline at end of file
diff --git a/social_mpc/config/social_mpc.yaml b/social_mpc/config/social_mpc.yaml
index 29f2134..1cea6cd 100644
--- a/social_mpc/config/social_mpc.yaml
+++ b/social_mpc/config/social_mpc.yaml
@@ -1,10 +1,10 @@
logging_mode: 'INFO' # INFO, WARNING, ERROR, CRITICAL DEBUG
# mpc parameters
h: 0.2
-fw_time: 3.
+fw_time: 5.
u_lb: [-3.0, -0.5, -0.1]
u_ub: [3.0, 0.5, 0.2]
-reg_parameter: [1., 1., 1.]
+reg_parameter: [1., 10., 1.]
max_acceleration: [0.4, 0.4, 0.3]
max_iter_optim: 5
# targets
@@ -21,7 +21,7 @@ relative_h_pose: [0.90, -0.2] # meter
check_object_fw_traj_offset: 0.4 # meter
# mpc losses parameters
loss: 0 # max_out_y_dist_ang, maxout_x_y_ang by default
-wall_avoidance_points: [[0., -0.3]]
+wall_avoidance_points: [[0., -0.3]] # [[0., 0.2], [0.15, 0.1], [-0.15, 0.1], [0., -0.3]] # [[0., -0.3]]
weights_description: ['goto_weight', 'human_features_weight', 'object_cost_map_weight', 'social_cost_map_weight', 'cost_map_weight', 'wall_avoidance_weight']
goto_weight: 1.
human_features_weight: 1.
@@ -30,17 +30,19 @@ social_cost_map_weight: 20.
cost_map_weight: 1.
wall_avoidance_weight: 100.
loss_rad: [[0.2, 0.2, 0.1, 0.2, 0.2, 0.2, 0.1], [0.2, 0.2, 0.1, 0.2, 0.2, 0.2, 0.1], [0.2, 0.2, 0.1, 0.2, 0.2, 0.2, 0.1]] # [(x, y , ang) goto goal, (x, y, ang) human features, pan] x3 (for each mpc mode)
-loss_coef: [[50, 50, 0.5, 0, 0, 0, 3], [0, 0, 0, 50, 50, 3, 3], [10, 10, 1, 50, 50, 2, 3]] # [(x, y , ang) goto goal, (x, y, ang) human features, pan] x3 (for each mpc mode)
+loss_coef: [[50, 50, 1, 0, 0, 0, 3], [0, 0, 0, 50, 50, 3, 3], [10, 10, 1, 50, 50, 2, 3]] # [(x, y , ang) goto goal, (x, y, ang) human features, pan] x3 (for each mpc mode)
# cost_map parameters
step_meshes: 5 # sampling every x cm
# ssn model parameters
group_detection_stride: 0.6
# mpc preprocessing parameters
waypoint_distance: 1.0 #1.2
-orientation_distance_threshold: 1.
+orientation_distance_threshold: 0.5
# controller parameters
path_loop_time: 1.
goal_loop_time: 1.
path_planner_enabled: true
goal_finder_enabled: true
update_goals_enabled: true
+# map parameters
+dilation_iter: 1
\ No newline at end of file
--
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