In user testing and customer feedback, we have found that our Perception systems perform better with a couple of parameter changes on grated flooring and open stairs. If your ANYmal has exhibited poor performance on these surfaces, Operators now have an additional option available to improve the situation. These settings can be easily changed when configuring an Environment in the Waypoint Editor. Simply change the field NFM Preset while editing an edge. Especially for stairs, please take extra care while performing initial tests with this setting enabled, such as attaching a rope.
You do not have to select presets for all the edges, as the autodeduced configuration will, by default, apply the right preset. In the event of poor performance on grated floors with the default settings, we recommend that Operators first try the grated_surfaces_l0 preset to see if performance improves before using grated_surfaces_l1 preset. Upping the level reduces ANYmal’s ability to detect cliffs and dynamic objects, so please proceed with caution.
Similar logic applies to the open stairs settings.
Warning: These settings are not as well tested as our baseline. Please use caution and care when testing these changes. Feel free to reach out to Support with logs if you’d like an opinion on whether changing these settings might make a difference in your situation.
For further information, please refer to the Operator’s Manual.