Commit d6616eb2 authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Update script to modification in hpp-corbaserver.

parent 7fd93dbe
......@@ -18,7 +18,14 @@ r (q0)
# Add constraints
wcl = WsClient ()
wcl.problem.addStaticStabilityConstraints (q0)
wcl.problem.addStaticStabilityConstraints ("balance", q0, robot.leftAnkle,
cl.problem.setNumericalConstraints ("balance", ["balance/relative-com",
# lock hands in closed position
lockedDofs = robot.leftHandClosed ()
for name, value in lockedDofs.iteritems ():
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