new settings social_mpc.yaml

src/robot_behavior/config/social_mpc/social_mpc.yaml

@@ -2,8 +2,8 @@ logging_mode: 'INFO' # INFO, WARNING, ERROR, CRITICAL DEBUG
 # mpc parameters
 h: 0.2
 fw_time: 5.
-u_lb: [-3.0, -0.2, -0.1]
-u_ub: [3.0, 0.2, 0.2]
+u_lb: [-3.0, -0.15, -0.1]
+u_ub: [3.0, 0.15, 0.1]
 reg_parameter: [1., 10., 1.]
 max_acceleration: [0.4, 0.4, 0.3]
 max_iter_optim: 5
@@ -22,7 +22,7 @@ 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., -0.6]]  # [[0., 0.2], [0.15, 0.1], [-0.15, 0.1], [0., -0.3]]  # [[0., -0.3]]
+wall_avoidance_points: [[0., -0.3]]  # [0., -0.6]]  # [[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.
@@ -37,7 +37,7 @@ step_meshes: 5  # sampling every x cm
 # ssn model parameters
 group_detection_stride: 0.5
 # mpc preprocessing parameters
-waypoint_distance: 1. #1.2
+waypoint_distance: 2. #1.2
 orientation_distance_threshold: 0.3
 # controller parameters
 path_loop_time: 2.