Commit 20b7f261 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

reduce feet contact surface

parent c671e080
......@@ -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
......
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