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Commit 20f560a3 authored by Pierre Fernbach's avatar Pierre Fernbach
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[centroidal] in geometric init guess : take com height found during contact planning

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scripts/hpp_wholebody_motion/centroidal/geometric.py
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...@@ -28,7 +28,9 @@ def generateCentroidalTrajectory(cs_origin): ...@@ -28,7 +28,9 @@ def generateCentroidalTrajectory(cs_origin):
com_x += phase.RH_patch.placement.translation[0,0] com_x += phase.RH_patch.placement.translation[0,0]
com_y += phase.RH_patch.placement.translation[1,0] com_y += phase.RH_patch.placement.translation[1,0]
com_x /= phase.numActivePatches() com_x /= phase.numActivePatches()
com_y /= phase.numActivePatches() com_y /= phase.numActivePatches()
# test : take com height from config found from planning :
com_z = cs.contact_phases[pid].init_state[2,0]
state[0] = com_x state[0] = com_x
state[1] = com_y state[1] = com_y
state[2] = com_z state[2] = com_z
......
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