slightly reduced noise and moved waypoint

umrover · Feb 17, 2024 · 27eaa1c · 27eaa1c
1 parent d172136
commit 27eaa1c
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/config/simulator/simulator.yaml b/config/simulator/simulator.yaml
@@ -9,7 +9,7 @@ objects:
   - type: urdf
     name: tag_0
     uri: package://mrover/urdf/world/tag_0.urdf.xacro
-    translation: [ -3, -3, 0.7 ]
+    translation: [ -2, -2, 0.7 ]
   - type: urdf
     name: tag_1
     uri: package://mrover/urdf/world/tag_1.urdf.xacro

diff --git a/src/simulator/simulator.hpp b/src/simulator/simulator.hpp
@@ -227,7 +227,7 @@ namespace mrover {
 
         // TODO: make variances configurable
         std::default_random_engine mRNG;
-        std::normal_distribution<double> mGPSDist{0, 0.5},
+        std::normal_distribution<double> mGPSDist{0, 0.2},
                 mAccelDist{0, 0.05},
                 mGyroDist{0, 0.02},
                 mMagDist{0, 0.1},