minor fix for downSlope hrp2

profile/profile.py

@@ -9,7 +9,7 @@ import time
 #~ scenarios = ['standing_hrp2']
 scenarios = ['downSlope_hrp2']
 #~ scenarios = ['stair_bauzil_hrp2']
-n_trials = 10
+n_trials = 4
 
 stats = ['balance','collision','ik']
 stats_optim = ['time_cwc','com_traj']

profile/scenarios/downSlope_hrp2_interp.py

@@ -95,9 +95,10 @@ fullBody.setEndState(q_goal,[rLegId,lLegId])
 
 
 
-configs = fullBody.interpolate(0.001,pathId=pId,robustnessTreshold = 3, filterStates = True)
+configs = fullBody.interpolate(0.001,pathId=pId,robustnessTreshold = 0, filterStates = True)
 print "number of configs :", len(configs)
 r(configs[-1])
+time.sleep(5)
 
 """
 from hpp.gepetto import PathPlayer