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

6386077a · Joseph Mirabel · Joseph Mirabel · 64d37400 · 6386077a
Commit 6386077a authored Apr 08, 2015 by Joseph Mirabel Committed by Joseph Mirabel Apr 08, 2015
--- a/script/hrp2_walk.py
+++ b/script/hrp2_walk.py
@@ -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:])