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[jsk_footstep_planner/generate-footstep-planner-parameters-from-robot-model.l] fix collision bbox #753

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[jsk_footstep_planner/generate-footstep-planner-parameters-from-robot-model.l] fix collision bbox #753

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4a62f1e
[jsk_footstep_planner/generate-footstep-planner-parameters-from-robot…
Naoki-Hiraoka Nov 19, 2020
9e995ef
Merge branch 'master' into fix-collision-bbox
k-okada May 11, 2021
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7 changes: 5 additions & 2 deletions jsk_footstep_planner/config/HRP2JSKNTS_footstep_planner_params.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,8 +4,8 @@ footstep_size_x: 0.254
footstep_size_y: 0.150368
rleg_footstep_offset: [0.016411, 0.0, 0.0]
lleg_footstep_offset: [0.016411, 0.0, 0.0]
collision_bbox_size: [0.499967, 0.39561, 1.33184]
collision_bbox_offset: [-0.055675, 0.0, 0.0]
collision_bbox_size: [0.499966, 0.396911, 1.03184]
collision_bbox_offset: [-0.055675, 0.00064, 0.805435]
successors:
- x: 0.15
y: 0.0
Expand Down Expand Up @@ -250,3 +250,6 @@ successors:
- x: -0.05
y: -0.05
theta: -0.349066
goal_pos_thr: 0.05
goal_rot_thr: 0.087266
transition_limit_yaw: 0.350811
4 changes: 2 additions & 2 deletions jsk_footstep_planner/euslisp/generate-footstep-planner-parameters-from-robot-model.l
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Original file line number Diff line number Diff line change
Expand Up @@ -69,11 +69,11 @@
(float-vector
(* 1e-3 (- (elt (find-extream (send bb :vertices) #'(lambda (x) (elt x 0)) #'>) 0) (elt (find-extream (send bb :vertices) #'(lambda (x) (elt x 0)) #'<) 0)))
(* 1e-3 (- (elt (find-extream (send bb :vertices) #'(lambda (x) (elt x 1)) #'>) 1) (elt (find-extream (send bb :vertices) #'(lambda (x) (elt x 1)) #'<) 1)))
(* 1e-3 (- (elt (find-extream (send bb :vertices) #'(lambda (x) (elt x 2)) #'>) 2) (elt (find-extream (send bb :vertices) #'(lambda (x) (elt x 2)) #'<) 2)))))
(- (* 1e-3 (- (elt (find-extream (send bb :vertices) #'(lambda (x) (elt x 2)) #'>) 2) (elt (find-extream (send bb :vertices) #'(lambda (x) (elt x 2)) #'<) 2))) 0.3))) ;;0.3[m] from the ground is not considered
(neglect-thre (* 1e-3 0.1)) ;; 0.1[mm]
(bbox-offset
(let ((tmp (scale 1e-3 (send (send robot :foot-midcoords) :inverse-transform-vector (send bb :centroid)))))
(float-vector (neglect-small-value (elt tmp 0) neglect-thre) (neglect-small-value (elt tmp 1) neglect-thre) 0.0)
(float-vector (neglect-small-value (elt tmp 0) neglect-thre) (neglect-small-value (elt tmp 1) neglect-thre) (+ 0.15 (neglect-small-value (elt tmp 2) neglect-thre))) ;;0.3[m] from the ground is not considered
)))
(if return-value
(list bbox-size bbox-offset)
Expand Down