1.39579597e-01, -1.33333598e-01, -8.72664626e-01,
0.00000000e+00, -9.81307787e-15, 0.00000000e+00,
-8.66484961e-02, -1.78097540e-01, -1.68940240e-03,
-5.31698601e-01, -1.00166891e-04, -6.74394930e-04,
-1.01552628e-04, -5.71121132e-15, -4.18037117e-15,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, -7.06534763e-01, 1.67723830e-01,
2.40289101e-01, -1.11674923e+00, 6.23384177e-01,
-8.45611535e-01, 1.39994759e-02, 1.17756934e-16,
3.14018492e-16, -3.17943723e-15, -6.28036983e-16,
-3.17943723e-15, -6.28036983e-16, -6.88979202e-02,
-4.90099381e-02, 8.17415141e-01, -8.71841480e-02,
-1.36966665e-01, -4.26226421e-02])
com_target = PointMass(pos=[0., 0., com_height], mass=robot.mass, color='b')
com_target.hide()
com_above = pymanoid.Cube(0.02, [0.05, 0.04, z_polygon], color='b')
stance = Stance(
com=com_target,
left_foot=Contact(
shape=robot.sole_shape,
pos=[0.20, 0.15, 0.1],
rpy=[0.4, 0, 0],
friction=0.5),
right_foot=Contact(
shape=robot.sole_shape,
pos=[-0.2, -0.195, 0.],
rpy=[-0.4, 0, 0],
friction=0.5))
stance.bind(robot)
