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The footprint parameter describes the shape and size of your robot, in meters. 0,0 is assumed to be the turning center of your robot, and you define the corners of your robot relative to that center. +X is forward, +Y is to the left, as defined in REP-103
For example, if you have a 1m square robot that turns about its center, your footprint would be:
footprint: [ [0.5, 0.5], [-0.5, 0.5], [-0.5, -0.5], [0.5, -0.5] ]
However, if your robot turns about its front edge, your footprint would be:
footprint: [ [0.0, 0.5], [0.0, -0.5], [-1.0, -0.5], [-1.0, 0.5] ]
If you have a triangular robot, your footprint might look like:
footprint: [ [1.0, 0.0], [0.0, -0.5], [0.0, 0.5] ]
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