Increase offset along -z for feet contact

talos_rbprm/talos.py

@@ -336,13 +336,13 @@ class Robot(Parent):
     octreeSize = 0.01
     cType = "_6_DOF"
     rLegOffset = [0., 0., 0.0]
-    # rLegOffset[2] += 0.005
+    rLegOffset[2] -= 0.005
     rLegNormal = [0, 0, 1]
     rLegx = 0.1
     rLegy = 0.06
 
     lLegOffset = [0., 0., 0.0]
-    # lLegOffset[2] += 0.005
+    lLegOffset[2] -= 0.005
     lLegNormal = [0, 0, 1]
     lLegx = 0.1
     lLegy = 0.06