config - parameters re-tuned for socially-complaint behaviour and r…

…easonable performance [#92]

cfg/HumapPlanner.cfg

@@ -181,7 +181,7 @@ group_cost = gen.add_group("Cost", type="tab")
 # reasonable results (9.9, 11.0, 12.0 were also tested).
 group_cost.add("path_distance_scale", double_t, 0, "The weight for the path distance part of the cost function", 10.0, 0.0)
 # Note that `goal_distance_scale` at 17.5 may slow down the robot just before the goal (e.g., near walls).
-group_cost.add("goal_distance_scale", double_t, 0, "The weight for the goal distance part of the cost function", 17.5, 0.0)
+group_cost.add("goal_distance_scale", double_t, 0, "The weight for the goal distance part of the cost function", 31.5, 0.0)
 group_cost.add("occdist_scale", double_t, 0, "The weight for the obstacle distance part of the cost function", 0.02, 0.0)
 group_cost.add("occdist_sum_scores", bool_t, 0, "Whether to sum up the scores along the path or use the maximum one", False)
 group_cost.add("occdist_separation", double_t, 0, "The minimum separation that should be kept from obstacles", 0.025, 0.0)