From 35a5dfe482b4b6b8047e7d71c207ca584bc5c6ae Mon Sep 17 00:00:00 2001
From: russt <russt@c9849af7-e679-4ec6-a44e-fc146a885bd3>
Date: Wed, 23 Jan 2013 01:24:06 +0000
Subject: [PATCH] passes all unit tests.

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/trunk@4965 c9849af7-e679-4ec6-a44e-fc146a885bd3
---
 configure.m                             | 1 -
 examples/ZMP/LinearInvertedPendulum2D.m | 3 ++-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/configure.m b/configure.m
index 92ab667c7a61..784580708fa9 100644
--- a/configure.m
+++ b/configure.m
@@ -69,7 +69,6 @@
 addpath([conf.root,'/thirdParty']);
 addpath([conf.root,'/thirdParty/path']);
 addpath([conf.root,'/thirdParty/spatial']);
-addpath([conf.root,'/thirdParty/graphviz2mat']);
 addpath([conf.root,'/thirdParty/cprintf']);
 
 % todo: setup java classpath (not hard to do it once... but how can I set
diff --git a/examples/ZMP/LinearInvertedPendulum2D.m b/examples/ZMP/LinearInvertedPendulum2D.m
index d14979a1e61a..d8d0650fd3d1 100644
--- a/examples/ZMP/LinearInvertedPendulum2D.m
+++ b/examples/ZMP/LinearInvertedPendulum2D.m
@@ -59,8 +59,9 @@
     function runPassive
       r = LinearInvertedPendulum2D(1.055);
       v = r.constructVisualizer();
+      dZMP = setOutputFrame(ConstantTrajectory([0]),desiredZMP1D); 
       ytraj = r.simulate([0 3],[0;.1]);
-      v.playback(ytraj);
+      v.playback([ytraj;dZMP]);
     end
     
     function runLQR