humotion

general_group = gen.add_group("thresholds")

add_entry(general_group, "threshold_velocity_eye_saccade", "velocity threshold for eye saccade detection (in deg/s)", 1.0, 30.0)

add_entry(general_group, "threshold_angle_neck_saccade", "magnitude of gaze change that triggers neck saccade (in deg)", 1.0, 30.0)

neck_group = gen.add_group("neck")

add_entry(neck_group, "scale_acceleration_neck", "scaling factor for neck acceleration (in percent, 1.0 = full human acceleration)", 0.1, 1.0)

add_entry(neck_group, "limit_velocity_neck", "limit for neck velocity (in deg/s)", 100.0, 800.0)

add_entry(neck_group, "limit_acceleration_neck", "limit for neck acceleration (in deg/s^2)", 100.0, 10000.0)

eye_group = gen.add_group("eye")

add_entry(eye_group, "scale_acceleration_eye", "scaling factor for eye acceleration (in percent, 1.0 = full human acceleration)", 0.1, 1.0)

add_entry(eye_group, "limit_velocity_eye", "limit for eye velocity (in deg/s)", 100.0, 1000.0)

add_entry(eye_group, "limit_acceleration_eye", "limit for eye acceleration (in deg/s^2)", 100.0, 80000.0)

    // 3) eyes reaching ocolumotor limits will trigger correction saccade

    //    value given in percent (NOTE: 1.0 = 100%)

    // neck motion generation configuration

    // [Guitton87] "Gaze control in humans: eye-head coordination during orienting movements ..."

    // In order to allow better adaption to the robot capabilities humotion allows to

    // scale the calculated velocity, value is given in percent (NOTE: 1.0 = 100% human velocity)

    // scale acceleration

    scale_acceleration_neck = 0.7;

    // eye motion generation configuration

    // scale the calculated velocity, value is given in percent (NOTE: 1.0 = 100% human velocity)

    // scale acceleration

    scale_acceleration_eye = 1.0;