From 2882288b5d10a7fadd08377d3fb17c25632b829c Mon Sep 17 00:00:00 2001
From: armar-user <armar6@kit>
Date: Wed, 17 May 2023 19:59:00 +0200
Subject: [PATCH] tuning
---
GeometricPlanning/ArticulatedObjectDoorHelper.cpp | 5 ++++-
1 file changed, 4 insertions(+), 1 deletion(-)
diff --git a/GeometricPlanning/ArticulatedObjectDoorHelper.cpp b/GeometricPlanning/ArticulatedObjectDoorHelper.cpp
index 5ee378531..83bbcf6ae 100644
--- a/GeometricPlanning/ArticulatedObjectDoorHelper.cpp
+++ b/GeometricPlanning/ArticulatedObjectDoorHelper.cpp
@@ -42,12 +42,15 @@ namespace simox::geometric_planning
CHECK_MESSAGE(params.doorContactHandleDistance > 0.,
"Grasping from the other side not implemented yet!");
+ constexpr float doorContactHandleLateralShift = 25;
+ constexpr float doorContactHandleDistance = -120;
+
return DoorInteractionContext{
.rns = {.joint = rns->getNode(jointNodeName),
.handle = rns->getNode(handleNodeName),
.handleSurfaceProjection = rns->getNode(surfaceProjectionNodeName)},
.handleSurfaceProjection_T_door_initial_contact =
- Pose(Eigen::Translation3f{0.F, -params.doorContactHandleDistance, 0.F}),
+ Pose(Eigen::Translation3f{doorContactHandleLateralShift, doorContactHandleDistance, 0.F}),
.door_initial_contact_T_pre_contact =
Pose(Eigen::Translation3f{0.F, 0, params.preContactDistance})};
}
--
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