From 6ef390cf9adebb5fe6f9597599b852834956de6a Mon Sep 17 00:00:00 2001
From: Ian Chen <ichen@osrfoundation.org>
Date: Thu, 8 Jul 2021 20:09:46 -0700
Subject: [PATCH] Increase collision tolerance by increasing KE height  (#973)

* reduce factor for allie and dtr when driving over hallway threshold

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

* revert ke factor, update ke height

Signed-off-by: Ian Chen <ichen@osrfoundation.org>
---
 subt_ign/launch/cloudsim_sim.ign | 2 +-
 subt_ign/launch/competition.ign  | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/subt_ign/launch/cloudsim_sim.ign b/subt_ign/launch/cloudsim_sim.ign
index 3794ce63..e7739cf0 100644
--- a/subt_ign/launch/cloudsim_sim.ign
+++ b/subt_ign/launch/cloudsim_sim.ign
@@ -452,7 +452,7 @@
             name="subt::GameLogicPlugin">
       <world_name><%= $worldName %></world_name>
       <ros><%= $ros %></ros>
-      <ke_height>0.078</ke_height>
+      <ke_height>0.24</ke_height>
 
       <duration_seconds><%= $durationSec %></duration_seconds>
 
diff --git a/subt_ign/launch/competition.ign b/subt_ign/launch/competition.ign
index 31bad9c7..c84fbad2 100644
--- a/subt_ign/launch/competition.ign
+++ b/subt_ign/launch/competition.ign
@@ -367,7 +367,7 @@
       <!-- The collection of artifacts to locate -->
       <world_name><%= $worldName %></world_name>
       <ros>false</ros>
-      <ke_height>0.078</ke_height>
+      <ke_height>0.24</ke_height>
 
       <duration_seconds><%= $durationSec %></duration_seconds>