Commit 51129c04 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[Scripts] fix navBauzil contact scripts

parent 265f8651
......@@ -5,10 +5,12 @@ from hpp.corbaserver.rbprm.scenarios.talos_contact_generator import TalosContact
class ContactGenerator(TalosContactGenerator):
def __init__(self):
super().__init__(PathPlanner())
self.robustness = 2.
def set_reference(self):
super().set_reference()
self.q_ref = self.fullbody.referenceConfig_elbowsUp[::] + [0] * self.path_planner.extra_dof
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
if __name__ == "__main__":
......
......@@ -5,10 +5,13 @@ from hpp.corbaserver.rbprm.scenarios.talos_contact_generator import TalosContact
class ContactGenerator(TalosContactGenerator):
def __init__(self):
super().__init__(PathPlanner())
self.robustness = 2.
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
def set_reference(self):
super().set_reference()
self.q_ref = self.fullbody.referenceConfig_elbowsUp[::] + [0] * self.path_planner.extra_dof
def load_limbs(self, heuristic):
super().load_limbs(heuristic)
......
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