Commit 6386077a authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

Update hrp2_walk.py to modification in hpp-manipulation-corba

parent 64d37400
......@@ -70,7 +70,7 @@ ps.createOrientationConstraint (rightfoot[0][2], robot.rightAnkle, "", (1,0,0,0)
# ps.createOrientationConstraint (rightfoot[1][2], robot.rightAnkle, "", (1,0,0,0), (False, False, True))
# ps.client.basic.problem.setConstantRightHandSide (rightfoot[1][2], True)
ps.createStabilityConstraints ("both", q_init)
ps.createStaticStabilityConstraints ("both", q_init, type = ProblemSolver.ALIGNED_COM)
bothfeet = [ ["both/com-between-feet", ],
[] ]
bothfeet[0].extend (leftfoot[0][1:])
......
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