From 109f2367d62f653ca7988c902350a51596c8d1ad Mon Sep 17 00:00:00 2001
From: florent <florent@laas.fr>
Date: Sun, 2 Jan 2011 19:20:38 +0100
Subject: [PATCH] Set right foot parameters.
* src/dynamic_graph/sot/dynamics/parser.py.
---
src/dynamic_graph/sot/dynamics/parser.py | 4 ++++
1 file changed, 4 insertions(+)
diff --git a/src/dynamic_graph/sot/dynamics/parser.py b/src/dynamic_graph/sot/dynamics/parser.py
index fd3ffe0..c4ada0e 100644
--- a/src/dynamic_graph/sot/dynamics/parser.py
+++ b/src/dynamic_graph/sot/dynamics/parser.py
@@ -121,6 +121,10 @@ class Parser (object):
self.entity.setFootParameters(False, soleLength, soleWidth,
anklePosition)
+ anklePosition = (anklePosition[0], -anklePosition[1], anklePosition[2])
+ self.entity.setFootParameters(True, soleLength, soleWidth,
+ anklePosition)
+
# Gaze parameters.
gazeOrigin = (self.GAZEORIGINX, self.GAZEORIGINY, self.GAZEORIGINZ)
gazeDirection = (self.GAZEDIRECTIONX, self.GAZEDIRECTIONY,
--
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