Update scripts

script/hrp2_walk.py

@@ -176,3 +176,6 @@ graph.setConstraints (graph=True, lockDof = lockDofs)
 
 ps.setInitialConfig (q_init)
 ps.addGoalConfig (q_goal)
+
+r = vf.createRealClient()
+pp = PathPlayer (robot.client.basic, r)

script/test_graph_two_hands.py

@@ -82,6 +82,7 @@ for n in jointNames['all']:
     jointNames['pr2'].append (n)
   if not n.startswith ("pr2/l_gripper"):
     jointNames['allButPR2LeftArm'].append (n)
+
 ps.addPassiveDofs ('pr2', jointNames ['pr2'])
 
 cg.createGrasp ('l_grasp', 'pr2/l_gripper', 'box/handle', 'pr2')
@@ -202,10 +203,15 @@ cg.setConstraints (graph = True, lockDof = lockAll)
 res = ps.client.manipulation.problem.applyConstraints (cg.nodes['free'], q_init)
 if not res[0]:
   raise Exception ('Init configuration could not be projected.')
+
 q_init_proj = res [1]
 res = ps.client.manipulation.problem.applyConstraints (cg.nodes['free'], q_goal)
 if not res[0]:
   raise Exception ('Goal configuration could not be projected.')
+
 q_goal_proj = res [1]
 ps.setInitialConfig (q_init_proj)
 ps.addGoalConfig (q_goal_proj)
+
+r = vf.createRealClient()
+pp = PathPlayer (robot.client.basic, r)

script/test_rrt.py

@@ -63,4 +63,4 @@ ps.addGoalConfig (q2proj)
 ps.solve ()
 
 pp = PathPlayer (cl, r)
-pp (1)
+#pp (1)

script/test_simple_graph.py

@@ -109,3 +109,6 @@ graph.setConstraints (graph=True, lockDof = locklhand, numConstraints=ps.balance
 
 ps.setInitialConfig (q_init)
 ps.addGoalConfig (q_goal)
+
+r = vf.createRealClient()
+pp = PathPlayer (robot.client.basic, r)