config

src/robot_behavior/config/social_mpc/social_mpc.yaml

@@ -4,7 +4,7 @@ h: 0.2
 fw_time: 3.
 u_lb: [-3.0, -0.5, -0.1]
 u_ub: [3.0, 0.5, 0.2]
-reg_parameter: [1., 10., 10.]
+reg_parameter: [1., 1., 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., -0.5]]
+wall_avoidance_points: [[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.
@@ -30,13 +30,13 @@ 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, 3, 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, 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)
 # cost_map parameters
 step_meshes: 5  # sampling every x cm
 # ssn model parameters
 group_detection_stride: 0.6
 # mpc preprocessing parameters
-waypoint_distance: 1.2
+waypoint_distance: 1.0 #1.2
 orientation_distance_threshold: 1.
 # controller parameters
 path_loop_time: 1.