robot.after.addSignal('tr.triger')
tr.add('pg.SupportFoot','')
robot.before.addSignal('pg.SupportFoot')
robot.before.addSignal('pg.leftfootcontact')
robot.before.addSignal('pg.rightfootcontact')
robot.before.addSignal('pg.leftfootref')
robot.before.addSignal('pg.rightfootref')
robot.before.addSignal('sot.forcesNormal')
# ------------------------------------------------------------------------------
# --- RUN ----------------------------------------------------------------------
# ------------------------------------------------------------------------------
sot.addContactFromTask(contactLF.task.name,'LF')
sot._LF_p.value = contactLF.support
sot.addContactFromTask(contactRF.task.name,'RF')
sot._RF_p.value = contactRF.support
# --- For the contacts ---------
from contact_handler import ContactSelect
contactSelect = ContactSelect(sot)
contactSelect.setContactTasks(contactRF, contactLF)
contactSelect.setFreeSpaceTasks(taskRF, taskLF)
#sot.push(taskLim.name)
sot.push(taskCom.task.name)
sot.push(taskWaist.task.name)
