CPL parameters for COMAN+

ADVRHumanoids / soap_bar_rrt

Multi contact planning project in collaboration with Paolo Ferrari, from La Sapienza

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CPL parameters for COMAN+ #8

Open GaloisPaolo opened 4 years ago

GaloisPaolo commented 4 years ago

Anyone remembers the values of the friction coefficient and the force threshold used in the COMAN+ experiment (that in the IROS20 @FrancescoRuscelli 's paper)?

I would like to use the same parameters in the planner. Thank you in advance!

FrancescoRuscelli commented 4 years ago

Hi Paolo!

The friction coefficient is set to 0.5. Concerning the force thresholds, they really depends on which end effector you are moving, especially for the real experiment. In particular, it was 15 N for the hands and 65 N for the feet. Keep me updated!