reduce feet contact surface

src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py

@@ -27,9 +27,9 @@ class Robot (Parent):
     packageName = "anymal_description"
     meshPackageName = "anymal_description"
     rootJointType = "freeflyer"
-    urdfName = "anymal"
-    urdfSuffix = "_reachability"
-    srdfSuffix = "_reachability"
+    urdfName = "anymal_reachability"
+    urdfSuffix = "_boxFeet"
+    srdfSuffix = ""
 
     ## Information about the names of thes joints defining the limbs of the robot
     rLegId = 'RFleg'
@@ -79,8 +79,8 @@ 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:[0.031 , 0.031], lfoot:[0.031 , 0.031],rhand:[0.031 , 0.031],lhand:[0.031 , 0.031]}
+    dict_size={rfoot:[0.02 , 0.02], lfoot:[0.02 , 0.02],rhand:[0.02 , 0.02],lhand:[0.02 , 0.02]}
     #various offset used by scripts
     MRsole_offset = SE3.Identity()
     MRsole_offset.translation = np.matrix(offset).T