make keepout smaller

jsk-ros-pkg · Nov 10, 2020 · de1fec4 · de1fec4
1 parent 3ec3831
commit de1fec4
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/jsk_fetch_robot/fetcheus/fetch-interface.l b/jsk_fetch_robot/fetcheus/fetch-interface.l
@@ -200,10 +200,10 @@ 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 50))
-          (keepout (make-cylinder 300 50)))
+    (let ((cube (make-cube 200 350 20))
+          (keepout (make-cylinder 300 20)))
       (send cube :translate #f(-120 0 0))
-      (send keepout :translate #f(0 0 -25))
+      (send keepout :translate #f(0 0 -10))
       (setq keepout (body- keepout cube))
       (send keepout :translate #f(0 0 375))
       (send *co* :add-attached-object keepout