Commit 6878f63b authored by stevet's avatar stevet
Browse files

fixed anymal slalom scripts + start state in rbprmFullBody

parent 423a546f
......@@ -290,7 +290,7 @@ class FullBody (Robot):
num_max_sample = 1
for (limbName, normal) in zip(contacts, normals):
p = cl.getEffectorPosition(limbName,configuration)[0]
cl.addNewContact(sId, limbName, p, normal, num_max_sample, False)
cl.addNewContact(sId, limbName, p, normal, num_max_sample, True)
return cl.setStartStateId(sId)
......@@ -308,7 +308,7 @@ class FullBody (Robot):
num_max_sample = 1
for (limbName, normal) in zip(contacts, normals):
p = cl.getEffectorPosition(limbName,configuration)[0]
cl.addNewContact(sId, limbName, p, normal, num_max_sample, False)
cl.addNewContact(sId, limbName, p, normal, num_max_sample, True)
return cl.setEndStateId(sId)
## Initialize the first state of the path interpolation
......
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