From 20b7f261054d08d17f5078be27337fcc0915a0d6 Mon Sep 17 00:00:00 2001
From: pFernbach <pierre.fernbach@gmail.com>
Date: Wed, 13 Feb 2019 20:58:11 +0100
Subject: [PATCH] reduce feet contact surface
---
src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py | 10 +++++-----
1 file changed, 5 insertions(+), 5 deletions(-)
diff --git a/src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py b/src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py
index 7ea9c95..6004e6b 100644
--- a/src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py
+++ b/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
--
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