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tuning for retargeting parameters val no hands #587

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tuning for retargeting parameters val no hands #587

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4 changes: 2 additions & 2 deletions ...-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/ui/vr/RDXVRKinematicsStreamingMode.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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


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

parameters.setAngularMomentumWeight(0.20);
parameters.setLinearMomentumWeight(0.01);

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