webots: add option for simplified foot shape

[SammyRamone]

Proposed changes

This way foot is really just the strain gauges. this way the footsensors are working better

Related issues

Necessary checks

• [ ] Update package version
• [ ] Run catkin build
• [ ] Write documentation
• [ ] Create issues for future work
• [ ] Test on your machine
• [ ] Test on the robot
• [ ] Put the PR on our Project board

[jaagut]

@SammyRamone @jgueldenstein is this still relevant? Do we want to merge this?

[SammyRamone]

I think it should not be merged like this. But the underlying issue should be addressed. The collision model of the foot itself is always making contact to the ground due to the physics of the ground which let it "sink" into the ground.

[jaagut]

@jgueldenstein Still relevant?

[SammyRamone]

@jgueldenstein Still relevant?

I'm not Jasper, but I will answer this. I'm not sure if it is still relevant. Check the output of the simulated strain gauges and click on the robot to see the active bounding boxes. The problem was that not only the strain gauges were colliding with the floor (due to the robot sinking into the "soft" grass) and therefore the values of the sensors were very wrong. This PR is more of a hacky fix for this as it removes the center collision part of the foot. There might be a better solution.