From 713a7533ee9703efe974e860b318a44da2cf29c6 Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@laas.fr>
Date: Wed, 1 Mar 2017 21:11:28 +0100
Subject: [PATCH] minor fix for downSlope hrp2

---
 profile/profile.py                         | 2 +-
 profile/scenarios/downSlope_hrp2_interp.py | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/profile/profile.py b/profile/profile.py
index f17277c..948e888 100755
--- a/profile/profile.py
+++ b/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']
diff --git a/profile/scenarios/downSlope_hrp2_interp.py b/profile/scenarios/downSlope_hrp2_interp.py
index 68c5843..9b077f4 100644
--- a/profile/scenarios/downSlope_hrp2_interp.py
+++ b/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
-- 
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