Commit 92facc79 authored by Pierre Fernbach's avatar Pierre Fernbach

[Scripts] stairs10_path: use ref height and increase affordance size

parent 6a40b65c
......@@ -35,10 +35,11 @@ class PathPlanner(TalosPathPlanner):
self.root_translation_bounds = [-1.5, 3, 0., 3.3, 0.95, 2.]
self.init_problem()
self.q_init[:3] = [0.05, 1.2, 0.98]
self.q_goal[:3] = [1.87, 1.2, 1.58]
self.q_init[:2] = [0., 1.2]
self.q_goal[:2] = [1.87, 1.2]
self.q_goal[2] += 0.6
self.init_viewer("multicontact/bauzil_stairs", reduce_sizes=[0.11, 0., 0.], visualize_affordances=["Support"])
self.init_viewer("multicontact/bauzil_stairs", reduce_sizes=[0.08, 0., 0.], visualize_affordances=["Support"])
self.init_planner()
self.solve()
self.display_path()
......
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