updated slalom

script/dynamic/slalom_bauzil_hrp2_interp.py

@@ -14,7 +14,8 @@ rootJointType = "freeflyer"
 ##
 #  Information to retrieve urdf and srdf files.
 urdfName = "hrp2_14"
-urdfSuffix = "_reduced_safe"
+#~ urdfSuffix = "_reduced_safe"
+urdfSuffix = "_reduced"
 srdfSuffix = ""
 pId = tp.ps.numberPaths() -1
 fullBody = FullBody ()

script/dynamic/slalom_bauzil_hrp2_path.py

@@ -84,7 +84,7 @@ r = Viewer (ps)
 from hpp.corbaserver.affordance.affordance import AffordanceTool
 afftool = AffordanceTool ()
 afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.2])
-afftool.loadObstacleModel ('hpp-rbprm-corba', "floor_bauzil", "planning", r,reduceSizes=[0.2,0,0])
+afftool.loadObstacleModel ('hpp-rbprm-corba', "floor_bauzil", "planning", r,reduceSizes=[0.2,0.,0.])
 #r.loadObstacleModel (packageName, "ground", "planning")
 #afftool.visualiseAffordances('Support', r,r.color.lightYellow)
 r.addLandmark(r.sceneName,1)