- Make sure to install hyq.urdf in $HPP_DEVEL_DIR/install/share/hpp-rbprm-corba/
- The planning is decomposed in two phases / scripts. First, a root path is computed (\*_path.py files). Then, the contacts are generated along the computed path (\*_interp.py files). The scripts are located in the folder /scripts/scenarios.
- To only plan and see the root path, run:
- The planning is decomposed in two phases / scripts. First, a root path is computed (\*_path.py files). Then, the contacts are generated along the computed path (\*_interp.py files). The scripts are located in the folder /scripts/scenarios/demos.
- To see the different steps of the process run
```$ ./run.sh darpa_hyq_path.py```
- To generate the complete contact sequence, run:
```$ ./run.sh darpa_hyq_interp.py```
The scripts include comments explaining the different calls to the library.
The script include comments explaining the different calls to the library. You can call the different methods a() ... d() to see the different steps of the planning.
