Update to modification in idl interface hpp-wholebody-step-corba.

script/balance_constraints_success_statistics.py

@@ -4,6 +4,7 @@
 
 from hpp.corbaserver import Client, ProblemSolver
 from hpp.corbaserver.wholebody_step import Client as WSClient
+from hpp.corbaserver.wholebody_step import Problem
 from hpp.corbaserver.hrp2 import Robot
 
 Robot.urdfSuffix = '_capsule'
@@ -15,7 +16,9 @@ wcl = WSClient ()
 q0 = robot.getInitialConfig ()
 
 constraintName = "balance"
-wcl.problem.addStaticStabilityConstraints (constraintName, q0, robot.leftAnkle, robot.rightAnkle)
+wcl.problem.addStaticStabilityConstraints (constraintName, q0, robot.leftAnkle,
+                                           robot.rightAnkle, "",
+                                           Problem.SLIDING)
 balanceConstraints = [constraintName + "/relative-com",
                       constraintName + "/relative-orientation",
                       constraintName + "/relative-position",

script/test_rrt.py

@@ -4,6 +4,7 @@ from hpp.gepetto import Viewer, PathPlayer
 from hpp.corbaserver.hrp2 import Robot
 from hpp.corbaserver import ProblemSolver
 from hpp.corbaserver.wholebody_step.client import Client as WsClient
+from hpp.corbaserver.wholebody_step import Problem
 
 Robot.urdfSuffix = '_capsule'
 Robot.srdfSuffix= '_capsule'
@@ -21,7 +22,8 @@ r (q0)
 # Add constraints
 wcl = WsClient ()
 wcl.problem.addStaticStabilityConstraints ("balance", q0, robot.leftAnkle,
-                                           robot.rightAnkle, "")
+                                           robot.rightAnkle, "",
+                                           Problem.SLIDING)
 
 ps.setNumericalConstraints ("balance", ["balance/relative-com",
                                                 "balance/relative-orientation",