forwarding changes done in the MS5_alex branch

setup.cfg

@@ -9,6 +9,14 @@ url = https://gitlab.inria.fr/twintz/non-holo-mpc
 zip_safe = False
 include_package_data = True
 packages = find:
+install_requires =
+  numpy >= 1.21.2
+  scipy >= 1.7.1
+  jax == 0.2.20
+  jaxlib == 0.1.71
+  PyYAML >= 5.4.1
+  scikit-fmm >= 2021.7.8
+  opencv-python >= 4.6.0.66
 python_requires = >=3.8
 scripts =
     demo.py

setup.py

@@ -11,4 +11,14 @@
 
 import setuptools
 
-setuptools.setup()
+setuptools.setup(
+    install_requires=[
+        'numpy >= 1.21.2',
+        'scipy >= 1.7.1',
+        'jax == 0.2.20',
+        'jaxlib == 0.1.71',
+        'PyYAML >= 5.4.1',
+        'scikit-fmm >= 2021.7.8',
+        'opencv-python >= 4.6.0.66',
+        ]
+)

social_mpc/config/social_mpc.yaml

@@ -35,7 +35,7 @@ loss_coef: [[50, 50, 1, 0, 0, 0, 3], [0, 0, 0, 50, 50, 3, 3], [10, 10, 1, 50, 50
 # cost_map parameters
 step_meshes: 5  # sampling every x cm
 # ssn model parameters
-group_detection_stride: 0.6
+group_detection_stride: 0.5
 # mpc preprocessing parameters
 waypoint_distance: 1.0 #1.2
 orientation_distance_threshold: 0.5

social_mpc/controller.py

@@ -17,7 +17,6 @@ import atexit
 
 
 import time
-import gym
 import numpy as np
 import yaml
 import pkg_resources

social_mpc/ssn_model/social_spaces.py

@@ -97,8 +97,8 @@ class SocialSpacesConfig():
         return SocialSpacesConfig(
             default_hand_distance = 0.2,
             A_p = 1.0,
-            sigma_p_x = 0.45,
-            sigma_p_y = 0.45,
+            sigma_p_x = 0.2,  # 0.45,
+            sigma_p_y = 0.2,  # 0.45,
             alpha = np.pi / 2,
             fov_angle = 60 * np.pi / 180,
             f_v = 0.8,
@@ -112,7 +112,7 @@ class SocialSpacesConfig():
             w_2 = 1.0,
             T_dis = 3.6,
             T_ang = 10 * np.pi / 180,
-            f_g = 0.0,
+            f_g = -0.5,  # 0.0,
             w_3 = 1.0,
             w_4 = 1.0,
             r_step = 0.1,