From de1fec4ce4122c0fe35aa961e0ed2c5109d670e3 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 6 Nov 2020 20:19:42 +0900 Subject: [PATCH] make keepout smaller --- jsk_fetch_robot/fetcheus/fetch-interface.l | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/jsk_fetch_robot/fetcheus/fetch-interface.l b/jsk_fetch_robot/fetcheus/fetch-interface.l index b17084073b..da35d60574 100644 --- 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