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Humanoid Path Planner
anymal-rbprm
Commits
ec64de9e
Commit
ec64de9e
authored
Feb 15, 2019
by
Pierre Fernbach
Browse files
reduce (again) size of feet
parent
0054e39c
Changes
1
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Inline
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src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py
View file @
ec64de9e
...
...
@@ -80,7 +80,7 @@ class Robot (Parent):
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
:[
0.0
2
,
0.0
2
],
lfoot
:[
0.0
2
,
0.0
2
],
rhand
:[
0.0
2
,
0.0
2
],
lhand
:[
0.0
2
,
0.0
2
]}
dict_size
=
{
rfoot
:[
0.0
1
,
0.0
1
],
lfoot
:[
0.0
1
,
0.0
1
],
rhand
:[
0.0
1
,
0.0
1
],
lhand
:[
0.0
1
,
0.0
1
]}
#various offset used by scripts
MRsole_offset
=
SE3
.
Identity
()
MRsole_offset
.
translation
=
np
.
matrix
(
offset
).
T
...
...
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