Use AbstractHumanoidRobot attribute for accessing signals.

src/dynamic_graph/sot/hrp2/prologue.py

@@ -38,9 +38,8 @@ def prologue_hrp2(robot,device):
         robot.features[i]._feature.selec.value = '111111'
         robot.tasks[i].controlGain.value = 1.
 
-    robot.featureComDes.errorIN.value = robot.dynamic.com.value
-    robot.featureComDes.selec.value = '111'
-    robot.comTask.controlGain.value = 1.
+    robot.comRef.value = robot.dynamic.com.value
+    robot.tasks ['com'].controlGain.value = 1.
 
     # Push com and feet tasks.
     #