From f2670bd2a118a6e04618b2b26b2d48914efb4e08 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Thu, 24 Feb 2011 21:49:34 +0100
Subject: [PATCH] Add waist as an operational point in Hrp2 class.
---
src/dynamic_graph/sot/dynamics/hrp2.py.in | 1 +
1 file changed, 1 insertion(+)
diff --git a/src/dynamic_graph/sot/dynamics/hrp2.py.in b/src/dynamic_graph/sot/dynamics/hrp2.py.in
index 4bc56bd..a239cc6 100755
--- a/src/dynamic_graph/sot/dynamics/hrp2.py.in
+++ b/src/dynamic_graph/sot/dynamics/hrp2.py.in
@@ -41,6 +41,7 @@ class Hrp2(AbstractHumanoidRobot):
def __init__(self, name, modelDir, xmlDir, device):
AbstractHumanoidRobot.__init__ (self, name)
+ self.OperationalPoints.append('waist')
self.device = device
modelName = 'HRP2JRLmainsmall.wrl'
specificitiesPath = xmlDir + '/HRP2SpecificitiesSmall.xml'
--
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