config - params re-tuned after initial real-world tests

rayvburn · Jan 18, 2024 · 481ea3f · 481ea3f
1 parent e78fd9f
commit 481ea3f
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/cfg/HumapPlanner.cfg b/cfg/HumapPlanner.cfg
@@ -33,7 +33,7 @@ group_general.add("groups_closest_num", int_t, 0, "Number of closest groups take
 # Special planner states - behaviours parameters
 group_behaviours = gen.add_group("PlannerBehaviours", type="tab")
 group_behaviours.add("oscillation_buffer_length", double_t, 0, "Length of a buffer to detect oscillations. Expressed as a number of seconds to keep the measurements.", 5.0, 1.0, 20.0)
-group_behaviours.add("path_crossing_confidence_threshold", double_t, 0, "Confidence threshold to consider geometrical arrangement between the robot and a person as path crossing", 0.85, 0.0, 1.0)
+group_behaviours.add("path_crossing_confidence_threshold", double_t, 0, "Confidence threshold to consider geometrical arrangement between the robot and a person as path crossing", 0.6, 0.0, 1.0)
 group_behaviours.add("yield_way_max_travel_distance", double_t, 0, "Maximum distance that the robot can travel while in the YIELD_WAY_CROSSING state", 0.75, 0.2, 3.0)
 
 # SFM group parameters