talos_navBauzil.py 602 Bytes
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from hpp.corbaserver.rbprm.scenarios.demos.talos_navBauzil_path import PathPlanner
from hpp.corbaserver.rbprm.scenarios.talos_contact_generator import TalosContactGenerator
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class ContactGenerator(TalosContactGenerator):
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    def __init__(self):
        super().__init__(PathPlanner())
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        self.robustness = 2.
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    def load_fullbody(self):
        super().load_fullbody()
        self.fullbody.nbSamples = 100000
        self.fullbody.limbs_names=[self.fullbody.lLegId, self.fullbody.rLegId] # left feet first on this scenario
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if __name__ == "__main__":
    cg = ContactGenerator()
    cg.run()