finish reorganization + doc

README.md

 # Gepetto softwares integration tests
 
-## gv_talos
+## Robots
 
-Checks py-pinocchio, py-qt-gepetto-viewer-corba & example-robot-data. One can
-provide an alternative robotpkg installation prefix as a script argument.
+Load a robot in a viewer, and put it in a standard posture.
+
+## HPP
+
+Run examples available on the hpp-benchmark package.
+
+## RBPRM
+
+Run examples available on the hpp-rbprm-corba package.

hpp/README.md

+## HPP
+
+Run examples available on the hpp-benchmark package.
+
+## Dependencies
+
+- [hpp-benchmark](https://github.com/humanoid-path-planner/hpp_benchmark)
+- [hpp-tutorial](https://github.com/humanoid-path-planner/hpp-tutorial)
+- [ros-baxter-common](https://github.com/RethinkRobotics/baxter_common)
+- :warning: [iai-maps](https://github.com/TeamSPoon/iai_maps) :warning: This is not yet packaged on robotpkg :warning:
+
+```
+py=27
+qt=4
+sudo apt install -qqy robotpkg-py${py}-qt${qt}-hpp-benchmark robotpkg-ros-baxter-common robotpkg-hpp-tutorial
+```
+
+## Available options
+
+Look at `./hpp.py -h` to see the list of available scenarii.
+
+## Run
+
+```
+hppcorbaserver &
+gepetto-gui &
+./hpp.py
+```

hpp/hpp.py

+#!/usr/bin/env python2
+
+from argparse import ArgumentParser
+from pathlib import Path
+from subprocess import Popen
+
+SCENARII = [
+    'baxter-manipulation-boxes', 'construction-set', 'hrp2-on-the-ground', 'pr2-in-iai-kitchen',
+    'pr2-manipulation-kitchen', 'pr2-manipulation-two-hand', 'romeo-placard'
+]
+
+parser = ArgumentParser()
+parser.add_argument('scenario', nargs='?', default=SCENARII[0], choices=SCENARII)
+parser.add_argument('--robotpkg_prefix', default='/opt/openrobots')
+
+
+def main(robotpkg_prefix, scenario):
+    script = Path(robotpkg_prefix) / 'share/hpp_benchmark' / scenario / 'script.py'
+    Popen(['python2', str(script), '-N', '1', '--display', '--run'])
+
+
+if __name__ == '__main__':
+    main(**vars(parser.parse_args()))

hpp/hpp_benchmarks.py

-#!/usr/bin/env python2
-
-from pathlib import Path
-from subprocess import Popen
-
-from integration_utils import wrap_with_processes
-
-DEPS = ['hpp-tutorial']
-
-PATCHES = {
-    'baxter_manipulation_boxes': [
-        ('N = 20', 'N = 1'),
-        ('#v = vf.createViewer ()', 'v = vf.createViewer()'),
-        ('#pp = PathPlayer (v)', 'pp = PathPlayer(v)'),
-    ]
-}
-
-
-def baxter_manipulation_boxes(rbprm_path, **kwargs):
-    script = Path(rbprm_path) / 'hpp_benchmark/future' / 'baxter-manipulation-boxes' / 'script.py'
-    temp = '/tmp/gepetto-integrations-hpp-benchmarks.py'
-    with open(temp, 'w') as f_out:
-        with script.open() as f_in:
-            for line in f_in:
-                for before, after in PATCHES['baxter_manipulation_boxes']:
-                    line = line.replace(before, after)
-                f_out.write(line)
-        f_out.write('pp(0)')
-    Popen(['python2', temp])
-
-
-if __name__ == '__main__':
-    wrap_with_processes(['gepetto-gui', 'hppcorbaserver'], baxter_manipulation_boxes, DEPS)

integration_utils.py

-from argparse import ArgumentParser
-from subprocess import CalledProcessError, Popen, check_call
-from time import sleep
-
-parser = ArgumentParser()
-parser.add_argument('--robotpkg_prefix', default='/opt/openrobots')
-parser.add_argument('--python', default=27)
-parser.add_argument('--qt', default=4)
-parser.add_argument(
-    '--rbprm_path', default='/local/gsaurel/humanoid-path-planner', help='TODO this scripts should be installed')
-parser.add_argument(
-    '--hpp_doc_path', default='/local/gsaurel/humanoid-path-planner', help='TODO this scripts should be packaged')
-
-
-def wrap_with_processes(processes, f, deps):
-    kwargs = vars(parser.parse_args())
-    check_installed(deps, **kwargs)
-    try:
-        plist = [Popen(process) for process in processes]
-        sleep(2)
-        f(**kwargs)
-        print('Done. Press Enter to exit')
-        raw_input()
-    finally:
-        for process in plist:
-            process.terminate()
-
-
-def check_installed(pkgs, python, qt, **kwargs):
-    for pkg_name in pkgs:
-        pkg = 'robotpkg-' + pkg_name
-        pkg = pkg.replace('py-', 'py%i-' % python)
-        pkg = pkg.replace('qt-', 'qt%i-' % qt)
-        try:
-            check_call(['dpkg', '-s', pkg])
-        except CalledProcessError:
-            print('please run: sudo apt install -qqy %s' % pkg)

rbprm/README.md

+## RBPRM
+
+Run examples available on the hpp-rbprm-corba package.
+
+## Dependencies
+
+- [pinocchio](https://github.com/stack-of-tasks/pinocchio)
+- [hpp-gepetto-viewer](https://github.com/humanoid-path-planner/hpp-gepetto-viewer)
+- [hpp-rbprm-corba](https://github.com/humanoid-path-planner/hpp-rbprm-corba)
+- [osg-dae](https://github.com/gepetto/osg-dae)
+
+```
+py=27
+qt=4
+sudo apt install -qqy robotpkg-py${py}-pinocchio robotpkg-py${py}-qt${qt}-hpp-gepetto-viewer robotpkg-osg-dae robotpkg-hpp-rbprm-corba
+```
+
+## Run
+
+```
+hpp-rbprm-server &
+gepetto-gui &
+./rbprm.py
+```

rbprm/rbprm.py

 #!/usr/bin/env python2
 
+from argparse import ArgumentParser
 from pathlib import Path
 from subprocess import Popen
 
-from integration_utils import wrap_with_processes
+parser = ArgumentParser()
+parser.add_argument(
+    '--rbprm_path', default='/local/gsaurel/humanoid-path-planner', help='TODO this scripts should be installed')
 
-DEPS = ['py-qt-hpp-gepetto-viewer', 'hpp-rbprm-corba', 'osg-dae', 'py-pinocchio']
 
-
-def main(rbprm_path, **kwargs):
+def main(rbprm_path):
     path = Path(rbprm_path) / 'hpp-rbprm-corba/script/scenarios/demos'
     Popen(['python2', 'darpa_hyq.py'], cwd=str(path))
 
 
 if __name__ == '__main__':
-    wrap_with_processes(['gepetto-gui', 'hpp-rbprm-server'], main, DEPS)
+    main(**vars(parser.parse_args()))

robots/README.md

+# Robots
+
+Load a robot in a viewer, and put it in a standard posture.
+
+## Dependencies
+
+- [pinocchio](../../../stack-of-tasks/pinocchio)
+- [gepetto-viewer-corba](../../../gepetto/gepetto-viewer-corba)
+- [example-robot-data](../../../gepetto/example-robot-data)
+
+```
+py=27
+qt=4
+sudo apt install -qqy robotpkg-py${py}-pinocchio robotpkg-py${py}-qt${qt}-gepetto-viewer-corba robotpkg-example-robot-data
+```
+
+## Available options
+
+Look at `./robots.py -h` to see the list of available robots.
+
+## Run
+
+```
+gepetto-gui &
+./robots.py
+```

robots/gv_talos.py → robots/robots.py

 #!/usr/bin/env python2
 
+from argparse import ArgumentParser
 from pathlib import Path
 
 import pinocchio as pin
 from pinocchio.robot_wrapper import RobotWrapper
 
-from integration_utils import wrap_with_processes
+ROBOTS = {
+    'talos': 'talos_data/robots/talos_reduced.urdf',
+    'hyq': 'hyq_description/robots/hyq_no_sensors.urdf',
+}
 
-DEPS = ['py-pinocchio', 'py-qt-gepetto-viewer-corba', 'example-robot-data']
+parser = ArgumentParser()
+parser.add_argument('robot', nargs='?', default=ROBOTS.keys()[0], choices=ROBOTS.keys())
+parser.add_argument('--robotpkg_prefix', default='/opt/openrobots')
 
 
-def main(robotpkg_prefix, **kwargs):
+def main(robotpkg_prefix, robot):
     pkg = Path(robotpkg_prefix) / 'share/example-robot-data'
-    urdf = 'talos_data/robots/talos_reduced.urdf'
+    urdf = ROBOTS[robot]
     robot = RobotWrapper.BuildFromURDF(str(pkg / urdf), [str(pkg)], pin.JointModelFreeFlyer())
     robot.initDisplay()
     robot.loadDisplayModel("pinocchio")
@@ -20,4 +26,4 @@ def main(robotpkg_prefix, **kwargs):
 
 
 if __name__ == '__main__':
-    wrap_with_processes(['gepetto-gui'], main, DEPS)
+    main(**vars(parser.parse_args()))