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

src/hpp/corbaserver/rbprm/scenarios/demos/talos_stairs10_path.py

@@ -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()