[config] add new config for demo with obstacles

scripts/hpp_wholebody_motion/config.py

-#DEMO_NAME = "talos_flatGround"
+DEMO_NAME = "talos_flatGround"
+DEMO_NAME = "talos_obstaclesFeet"
 #DEMO_NAME = "darpa_hyq"
 #DEMO_NAME = "hyq_slalom_debris"
-DEMO_NAME = "talos_table"
+#DEMO_NAME = "talos_table"
+#DEMO_NAME="anymal_slalom_debris"
+#DEMO_NAME="anymal_flatGround"
 
 
 ## PATHS settings : 
@@ -16,6 +19,11 @@ LOAD_CS_COM = False
 SAVE_CS = True
 SAVE_CS_COM = True
 EXPORT_GAZEBO = True
+LOAD_CS = True
+LOAD_CS_COM = True
+SAVE_CS = False
+SAVE_CS_COM = False
+EXPORT_GAZEBO = False
 EXPORT_PATH = OUTPUT_DIR+"/export"
 
 ##DISPLAY settings : 
@@ -39,13 +47,16 @@ assert USE_GEOM_INIT_GUESS != USE_CROC_INIT_GUESS , "You must choose exactly one
 SOLVER_DT = 0.05 # hardcoded in timeOpt_configs files, must match this one ! 
 
 USE_WP_COST = True # use wp from the contact sequence in the cost function of timeopt
-
+#end effector :
+USE_LIMB_RRT = False
+USE_CONSTRAINED_BEZIER = True
+USE_BEZIER_EE = True
+EFF_CHECK_COLLISION = True
 ##  Settings for whole body : 
 YAW_ROT_GAIN = 1.
 USE_CROC_COM = False
-USE_BEZIER_EE = True
-WB_VERBOSE = False
-WB_STOP_AT_EACH_PHASE = False
+WB_VERBOSE = True
+WB_STOP_AT_EACH_PHASE = True
 IK_dt = 0.001  # controler time step
 IK_PRINT_N = 500  # print state of the problem every IK_PRINT_N time steps (if verbose = True)
 

scripts/hpp_wholebody_motion/demo_configs/talos_obstaclesFeet.py

+TIMEOPT_CONFIG_FILE = "cfg_softConstraints_talos.yaml"
+from common_talos import *
+SCRIPT_PATH = "demos"
+
+DURATION_INIT = 1.5 # Time to init the motion
+DURATION_FINAL = 1.5 # Time to stop the robot
+DURATION_FINAL_SS = 1.
+DURATION_SS =1.4
+DURATION_DS = 0.3
+DURATION_TS = 0.4
+
+
+## Settings for end effectors : 
+EFF_T_PREDEF = 0.3
+p_max = 0.1
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