From 97341ad6a673a29493457c9c58a20e46e07f78c6 Mon Sep 17 00:00:00 2001
From: pFernbach <pierre.fernbach@gmail.com>
Date: Tue, 19 Feb 2019 14:31:33 +0100
Subject: [PATCH] change size of contact for TSID
---
src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py b/src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py
index 1695620..fc6b639 100644
--- a/src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py
+++ b/src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py
@@ -80,8 +80,8 @@ class Robot (Parent):
dict_limb_color_traj = {rfoot:[0,1,0,1], lfoot:[1,0,0,1],rhand:[0,0,1,1],lhand:[0.9,0.5,0,1]}
FOOT_SAFETY_SIZE = 0.01
# size of the contact surface (x,y)
- #dict_size={rfoot:[0.031 , 0.031], lfoot:[0.031 , 0.031],rhand:[0.031 , 0.031],lhand:[0.031 , 0.031]}
- dict_size={rfoot:[0.01 , 0.01], lfoot:[0.01 , 0.01],rhand:[0.01 , 0.01],lhand:[0.01 , 0.01]}
+ dict_size={rfoot:[0.031 , 0.031], lfoot:[0.031 , 0.031],rhand:[0.031 , 0.031],lhand:[0.031 , 0.031]}
+ #dict_size={rfoot:[0.01 , 0.01], lfoot:[0.01 , 0.01],rhand:[0.01 , 0.01],lhand:[0.01 , 0.01]}
#various offset used by scripts
MRsole_offset = SE3.Identity()
MRsole_offset.translation = np.matrix(offset).T
--
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