From 066cfd90b8ea8efc9324511afa98ebc689fe6542 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Tue, 10 Nov 2020 16:56:45 +0900 Subject: [PATCH] Fix size of keepout and ground collision object --- jsk_fetch_robot/fetcheus/fetch-interface.l | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/jsk_fetch_robot/fetcheus/fetch-interface.l b/jsk_fetch_robot/fetcheus/fetch-interface.l index da35d60574..3faebba840 100644 --- a/jsk_fetch_robot/fetcheus/fetch-interface.l +++ b/jsk_fetch_robot/fetcheus/fetch-interface.l @@ -200,12 +200,12 @@ Example: (send self :gripper :position) => 0.00" (:speak-jp (text &rest args &key (topic-name "robotsound_jp") &allow-other-keys) (send-super* :speak-jp text :topic-name topic-name args)) (:add-keepout-collision-object () - (let ((cube (make-cube 200 350 20)) - (keepout (make-cylinder 300 20))) + (let ((cube (make-cube 200 350 10)) + (keepout (make-cylinder 300 10))) (send cube :translate #f(-120 0 0)) - (send keepout :translate #f(0 0 -10)) + (send keepout :translate #f(0 0 -5)) (setq keepout (body- keepout cube)) - (send keepout :translate #f(0 0 375)) + (send keepout :translate #f(0 0 370)) (send *co* :add-attached-object keepout "base_link" :frame-id base-frame-id @@ -215,9 +215,9 @@ Example: (send self :gripper :position) => 0.00" (send *co* :delete-attached-object-by-id "keepout") (send *co* :delete-object-by-id "keepout")) (:add-ground-collision-object () - (let ((cube (make-cube 200 350 50)) + (let ((cube (make-cube 500 500 50)) (ground (make-cylinder 1000 50))) - (send cube :translate #f(-120 0 0)) + (send cube :translate #f(-20 0 0)) (send ground :translate #f(0 0 -25)) (setq ground (body- ground cube)) (send ground :translate #f(0 0 -25))