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Guilhem Saurel
hpp-rbprm-corba
Commits
92facc79
Commit
92facc79
authored
Mar 26, 2020
by
Pierre Fernbach
Browse files
[Scripts] stairs10_path: use ref height and increase affordance size
parent
6a40b65c
Changes
1
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src/hpp/corbaserver/rbprm/scenarios/demos/talos_stairs10_path.py
View file @
92facc79
...
...
@@ -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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