[sample/SampleRobot] set all limbs to limbs arguments in trot walking

snozawa · Oct 26, 2015 · 99fd982 · 99fd982
1 parent 0112743
commit 99fd982
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/sample/SampleRobot/samplerobot_auto_balancer.py b/sample/SampleRobot/samplerobot_auto_balancer.py
@@ -433,7 +433,7 @@ def demoGaitGeneratorSetFootStepsWithArms():
  ggp.default_step_height = 0.01
  hcf.abc_svc.setGaitGeneratorParam(ggp)
  # start walking
- hcf.startAutoBalancer()
+ hcf.startAutoBalancer(['rleg', 'lleg', 'rarm', 'larm'])
  hcf.setFootSteps([OpenHRP.AutoBalancerService.Footsteps([OpenHRP.AutoBalancerService.Footstep([0,-0.09,0], [1,0,0,0], "rleg"),
  OpenHRP.AutoBalancerService.Footstep([0.23,0.21,0.86], [1,0,0,0], "larm")]),
  OpenHRP.AutoBalancerService.Footsteps([OpenHRP.AutoBalancerService.Footstep([0,0.09,0], [1,0,0,0], "lleg"),