diff --git a/src/demo/plan_pick_trixi.cpp b/src/demo/plan_pick_trixi.cpp index 18f32b68..30f4736f 100644 --- a/src/demo/plan_pick_trixi.cpp +++ b/src/demo/plan_pick_trixi.cpp @@ -26,8 +26,10 @@ void spawnObject(){ o.primitive_poses[0].position.z= 0.84; o.primitive_poses[0].orientation.w= 1.0; o.primitives.resize(1); - o.primitives[0].type= shape_msgs::SolidPrimitive::SPHERE; - o.primitives[0].dimensions.resize(1, 0.03); + o.primitives[0].type= shape_msgs::SolidPrimitive::CYLINDER; + o.primitives[0].dimensions.resize(2); + o.primitives[0].dimensions[0]= 0.23; + o.primitives[0].dimensions[1]= 0.03; psi.applyCollisionObject(o); }