disableEffectorCollision does not work for initial/final positions.

[Mathieu-Geisert]

Hi all,

Since the feet of ANYmal are soft plastic balls, we consider contact when the feet are 1cm inside the ground:

To disable collision between the feet and the ground, the option disableEffectorCollision=True can be used in addLimb. However it will only disable collisions during the generation of contacts. So we still get "invalid intial/final position" when trying to solve a problem where the initial/position have feet/ground collisions.

For now, I avoid the problem by completely removing collisions of the feet in the urdf but it means I also allow feet/robot collisions.