Latest tuned configs

Copied from sophia_body

Author: wenwei-dev

src/ros_commo.py

@@ -206,17 +206,17 @@ def explore_saccade(self):
 			return
 		# Switch to conversational (micro) saccade parameters
 		msg = SaccadeCycle()
-		msg.mean =  2.45         # saccade_explore_interval_mean
-		msg.variation = 0.9    # saccade_explore_interval_var
-		msg.paint_scale = 4   # saccade_explore_paint_scale
+		msg.mean =  0.8        # saccade_explore_interval_mean
+		msg.variation = 0.3    # saccade_explore_interval_var
+		msg.paint_scale = 0.3   # saccade_explore_paint_scale
 		# From study face, maybe better default should be defined for
 		# explore
 		msg.eye_size = 15      # saccade_study_face_eye_size
 		msg.eye_distance = 100  # saccade_study_face_eye_distance
 		msg.mouth_width = 90    # saccade_study_face_mouth_width
 		msg.mouth_height = 27  # saccade_study_face_mouth_height
-		msg.weight_eyes = 0.4    # saccade_study_face_weight_eyes
-		msg.weight_mouth = 0.6   # saccade_study_face_weight_mouth
+		msg.weight_eyes = 0.8    # saccade_study_face_weight_eyes
+		msg.weight_mouth = 0.2   # saccade_study_face_weight_mouth
 		self.saccade_pub.publish(msg)
 
 	# Used during conversation to study face being looked at.
@@ -226,15 +226,15 @@ def conversational_saccade(self):
 		# Switch to conversational (micro) saccade parameters
 		msg = SaccadeCycle()
 		msg.mean =  0.8         # saccade_micro_interval_mean
-		msg.variation = 0.8     # saccade_micro_interval_var
-		msg.paint_scale = 3   # saccade_micro_paint_scale
+		msg.variation = 0.5     # saccade_micro_interval_var
+		msg.paint_scale = 0.3   # saccade_micro_paint_scale
 		#
 		msg.eye_size = 11.5      # saccade_study_face_eye_size
 		msg.eye_distance = 100 # saccade_study_face_eye_distance
 		msg.mouth_width = 90    # saccade_study_face_mouth_width
 		msg.mouth_height = 5  # saccade_study_face_mouth_height
-		msg.weight_eyes = 0.4    # saccade_study_face_weight_eyes
-		msg.weight_mouth = 0.6   # saccade_study_face_weight_mouth
+		msg.weight_eyes = 0.8    # saccade_study_face_weight_eyes
+		msg.weight_mouth = 0.2   # saccade_study_face_weight_mouth
 		self.saccade_pub.publish(msg)
 
 	# Used during conversation to study face being looked at.
@@ -243,16 +243,16 @@ def listening_saccade(self):
 			return
 		# Switch to conversational (micro) saccade parameters
 		msg = SaccadeCycle()
-		msg.mean =  2.2         # saccade_micro_interval_mean
+		msg.mean =  1         # saccade_micro_interval_mean
 		msg.variation = 0.6      # saccade_micro_interval_var
-		msg.paint_scale = 1      # saccade_micro_paint_scale
+		msg.paint_scale = 0.3      # saccade_micro_paint_scale
 		#
 		msg.eye_size = 11        # saccade_study_face_eye_size
 		msg.eye_distance = 80    # saccade_study_face_eye_distance
 		msg.mouth_width = 50     # saccade_study_face_mouth_width
 		msg.mouth_height = 13.0  # saccade_study_face_mouth_height
-		msg.weight_eyes = 0.5    # saccade_study_face_weight_eyes
-		msg.weight_mouth = 0.5   # saccade_study_face_weight_mouth
+		msg.weight_eyes = 0.8    # saccade_study_face_weight_eyes
+		msg.weight_mouth = 0.2   # saccade_study_face_weight_mouth
 		self.saccade_pub.publish(msg)