Merge pull request #137 from lrapetti/fix/iCub2_5_feet-size

Fix/i cub2 5 feet size

Author: Gabriele Nava

controllers/+floatingBaseBalancingTorqueControlWithSimulator/app/robots/iCubGazeboV2_5/configStateMachine.m

@@ -152,8 +152,8 @@
 fZmin                        = 10;
 
 % physical size of the foot                             
-feet_size                    = [-0.07  0.12 ;    % xMin, xMax
-                                -0.045 0.05 ];   % yMin, yMax  
+feet_size                    = [-0.07  0.12  ;    % xMin, xMax
+                                -0.045 0.045 ];   % yMin, yMax  
 
 % Compute contact constraints (friction cone, unilateral constraints)
 [ConstraintsMatrix, bVectorConstraints] = wbc.computeRigidContactConstraints ...

controllers/floating-base-balancing-torque-control/app/robots/iCubGazeboV2_5/configStateMachine.m

@@ -152,8 +152,8 @@
 fZmin                        = 10;
 
 % physical size of the foot                             
-feet_size                    = [-0.07  0.12 ;    % xMin, xMax
-                                -0.045 0.05 ];   % yMin, yMax  
+feet_size                    = [-0.07  0.12  ;    % xMin, xMax
+                                -0.045 0.045 ];   % yMin, yMax  
 
 % Compute contact constraints (friction cone, unilateral constraints)
 [ConstraintsMatrix, bVectorConstraints] = wbc.computeRigidContactConstraints ...

controllers/floating-base-balancing-torque-control/app/robots/iCubGenova02/configStateMachine.m

@@ -152,8 +152,8 @@
 fZmin                        = 10;
 
 % physical size of the foot                             
-feet_size                    = [-0.07  0.12 ;    % xMin, xMax
-                                -0.045 0.05 ];   % yMin, yMax  
+feet_size                    = [-0.07  0.12  ;    % xMin, xMax
+                                -0.045 0.045 ];   % yMin, yMax  
 
 % Compute contact constraints (friction cone, unilateral constraints)
 [ConstraintsMatrix, bVectorConstraints] = wbc.computeRigidContactConstraints ...

controllers/floating-base-balancing-torque-control/app/robots/iCubGenova04/configStateMachine.m

@@ -152,8 +152,8 @@
 fZmin                        = 10;
 
 % physical size of the foot                             
-feet_size                    = [-0.07  0.12 ;    % xMin, xMax
-                                -0.045 0.05 ];   % yMin, yMax  
+feet_size                    = [-0.07  0.12  ;    % xMin, xMax
+                                -0.045 0.045 ];   % yMin, yMax  
 
 % Compute contact constraints (friction cone, unilateral constraints)
 [ConstraintsMatrix, bVectorConstraints] = wbc.computeRigidContactConstraints ...

controllers/floating-base-jerk-control/app/robots/iCubGazeboV2_5/initStateMachineYoga.m

@@ -520,5 +520,5 @@
 Config.fZmin                        = 10;
 
 % physical size of the foot                             
-Config.feet_size                    = [-0.07  0.12;    % xMin, xMax
-                                       -0.045 0.05];   % yMin, yMax  
+Config.feet_size                    = [-0.07  0.12 ;    % xMin, xMax
+                                       -0.045 0.045];   % yMin, yMax

controllers/floating-base-jerk-control/app/robots/iCubGenova04/initStateMachineYoga.m

@@ -525,5 +525,5 @@
 Config.fZmin                        = 10;
 
 % physical size of the foot                             
-Config.feet_size                    = [-0.07  0.12 ;    % xMin, xMax
-                                       -0.045 0.05 ];   % yMin, yMax  
+Config.feet_size                    = [-0.07  0.12  ;    % xMin, xMax
+                                       -0.045 0.045 ];   % yMin, yMax

controllers/simulink-balancing-simulator/app/robots/iCubGazeboV2_5/configStateMachine.m

@@ -152,8 +152,8 @@
 fZmin                        = 10;
 
 % physical size of the foot                             
-feet_size                    = [-0.07  0.12 ;    % xMin, xMax
-                                -0.045 0.05 ];   % yMin, yMax  
+feet_size                    = [-0.07  0.12  ;    % xMin, xMax
+                                -0.045 0.045 ];   % yMin, yMax  
 
 % Compute contact constraints (friction cone, unilateral constraints)
 [ConstraintsMatrix, bVectorConstraints] = wbc.computeRigidContactConstraints ...