def __init__(self, bodies, ctrl, *args, **kargs):
MultiTask.__init__(self, *args, **kargs)
self._bodies = bodies
self._ctrl = ctrl
com_args = [ctrl.zmp_ctrl, ctrl.cdof, 1, 0, True, "CoM"]
if len(bodies):
self._subtask.append( CoMTask(bodies, *com_args) )
else:
self._subtask.append( LQPCoMTask(*com_args) )
self._subtask.append( ctrl.l_foot_task )
self._subtask.append( ctrl.r_foot_task )
