Commit ef6dbe6b authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

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

parent 9b77c6ed
...@@ -4,6 +4,7 @@ ...@@ -4,6 +4,7 @@
from hpp.corbaserver import Client, ProblemSolver from hpp.corbaserver import Client, ProblemSolver
from hpp.corbaserver.wholebody_step import Client as WSClient from hpp.corbaserver.wholebody_step import Client as WSClient
from hpp.corbaserver.wholebody_step import Problem
from hpp.corbaserver.hrp2 import Robot from hpp.corbaserver.hrp2 import Robot
Robot.urdfSuffix = '_capsule' Robot.urdfSuffix = '_capsule'
...@@ -15,7 +16,9 @@ wcl = WSClient () ...@@ -15,7 +16,9 @@ wcl = WSClient ()
q0 = robot.getInitialConfig () q0 = robot.getInitialConfig ()
constraintName = "balance" 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", balanceConstraints = [constraintName + "/relative-com",
constraintName + "/relative-orientation", constraintName + "/relative-orientation",
constraintName + "/relative-position", constraintName + "/relative-position",
......
...@@ -4,6 +4,7 @@ from hpp.gepetto import Viewer, PathPlayer ...@@ -4,6 +4,7 @@ from hpp.gepetto import Viewer, PathPlayer
from hpp.corbaserver.hrp2 import Robot from hpp.corbaserver.hrp2 import Robot
from hpp.corbaserver import ProblemSolver from hpp.corbaserver import ProblemSolver
from hpp.corbaserver.wholebody_step.client import Client as WsClient from hpp.corbaserver.wholebody_step.client import Client as WsClient
from hpp.corbaserver.wholebody_step import Problem
Robot.urdfSuffix = '_capsule' Robot.urdfSuffix = '_capsule'
Robot.srdfSuffix= '_capsule' Robot.srdfSuffix= '_capsule'
...@@ -21,7 +22,8 @@ r (q0) ...@@ -21,7 +22,8 @@ r (q0)
# Add constraints # Add constraints
wcl = WsClient () wcl = WsClient ()
wcl.problem.addStaticStabilityConstraints ("balance", q0, robot.leftAnkle, wcl.problem.addStaticStabilityConstraints ("balance", q0, robot.leftAnkle,
robot.rightAnkle, "") robot.rightAnkle, "",
Problem.SLIDING)
ps.setNumericalConstraints ("balance", ["balance/relative-com", ps.setNumericalConstraints ("balance", ["balance/relative-com",
"balance/relative-orientation", "balance/relative-orientation",
......
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