tuning for retargeting parameters val no hands #587
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LuigiPenco93
commented
Jan 9, 2025
| @@ -222,10 +222,10 @@ public void create(boolean createToolbox) | |||
| parameters.setInputBBXFilterSize(2.0, 2.8, 2.6); | |||
| parameters.setInputBBXFilterCenter(0.4, 0.0, 1.25); | |||
| parameters.setOutputLPFBreakFrequency(10.0); | |||
| parameters.setOutputJointVelocityScale(0.65); | |||
| parameters.setOutputJointVelocityScale(0.5); | |||
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this should have been 0.5, 0.65 is too fast for both nadia and val
LuigiPenco93
commented
Jan 9, 2025
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| parameters.setMinimizeAngularMomentum(true); | ||
| parameters.setMinimizeLinearMomentum(false); | ||
| parameters.setMinimizeLinearMomentum(true); |
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this should be true by default. if we run the toolbox in the robot controller, it can change, assuming some other robot specific parameters are custom adjusted, but that will be in the robot specific parameter file
ds58
approved these changes
Jan 9, 2025
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