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

Update script test_rrt.py 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,
robot.rightAnkle)
cl.problem.setNumericalConstraints ("balance", ["balance/relative-com",
"balance/relative-orientation",
"balance/relative-position",
"balance/orientation-left-foot",
"balance/position-left-foot"])
# lock hands in closed position
lockedDofs = robot.leftHandClosed ()
for name, value in lockedDofs.iteritems ():
......
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