Robot.urdfSuffix = '_capsule'
Robot.srdfSuffix= '_capsule'
#Robot.urdfSuffix = ''
#Robot.srdfSuffix= ''
robot = Robot ('hrp2_14')
robot.setJointBounds ("root_joint", [-3, 3, -3, 3, 0, 1,-1,1,-1,1,-1,1,-1,1])
cl = robot.client
q0 = robot.getInitialConfig()
# Add constraints
ps = ProblemSolver (robot)
# Remove joint bound validation
ps.hppcorba.problem.clearConfigValidations()
ps.addConfigValidation("CollisionValidation")
ps.addPartialCom ('hrp2_14', ['root_joint'])
robot.createSlidingStabilityConstraint ("balance/", 'hrp2_14', robot.leftAnkle,
robot.rightAnkle,q0)
ps.addNumericalConstraints ("balance", ["balance/relative-com",
"balance/relative-pose",
"balance/pose-left-foot",])
# lock hands in closed position
lockedjointDict = robot.leftHandClosed ()
lockedJoints = list ()
for name, value in lockedjointDict.items ():
ljName = "locked_" + name
ps.createLockedJoint (ljName, name, value)
lockedJoints.append (ljName)
