Update scripts to latest modifications in corba packages.

script/test_rrt.py

 #/usr/bin/env python
 
-from hpp_ros import ScenePublisher, PathPlayer
+from hpp.gepetto import Viewer, PathPlayer
 from hpp.corbaserver.hrp2 import Robot
 from hpp.corbaserver import ProblemSolver
 from hpp.corbaserver.wholebody_step.client import Client as WsClient
@@ -10,9 +10,11 @@ Robot.srdfSuffix= '_capsule'
 
 robot = Robot ('hrp2_14')
 robot.setJointBounds ("base_joint_xyz", [-3, 3, -3, 3, 0, 1])
+ps = ProblemSolver (robot)
+
 cl = robot.client
 
-r = ScenePublisher (robot)
+r = Viewer (ps)
 q0 = robot.getInitialConfig ()
 r (q0)
 
@@ -21,7 +23,6 @@ wcl = WsClient ()
 wcl.problem.addStaticStabilityConstraints ("balance", q0, robot.leftAnkle,
                                            robot.rightAnkle)
 
-ps = ProblemSolver (robot)
 ps.setNumericalConstraints ("balance", ["balance/relative-com",
                                                 "balance/relative-orientation",
                                                 "balance/relative-position",
@@ -31,11 +32,11 @@ ps.setNumericalConstraints ("balance", ["balance/relative-com",
 # lock hands in closed position
 lockedDofs = robot.leftHandClosed ()
 for name, value in lockedDofs.iteritems ():
-    ps.lockJoint (name, value)
+    ps.lockDof (name, value, 0, 0)
 
 lockedDofs = robot.rightHandClosed ()
 for name, value in lockedDofs.iteritems ():
-    ps.lockJoint (name, value)
+    ps.lockDof (name, value, 0, 0)
 
 
 q1 = [0.0, 0.0, 0.705, 1.0, 0., 0., 0.0, 0.0, 0.0, 0.0, 0.0, -0.4, 0, -1.2, -1.0, 0.0, 0.0, 0.174532, -0.174532, 0.174532, -0.174532, 0.174532, -0.174532, 0.261799, -0.17453, 0.0, -0.523599, 0.0, 0.0, 0.174532, -0.174532, 0.174532, -0.174532, 0.174532, -0.174532, 0.0, 0.0, -0.453786, 0.872665, -0.418879, 0.0, 0.0, 0.0, -0.453786, 0.872665, -0.418879, 0.0]

script/test_simple_graph.py

@@ -11,22 +11,22 @@ class ScrewGun (object):
   urdfSuffix = "_massless"
   srdfSuffix = ""
 
-Robot.urdfSuffix = ''
+Robot.urdfSuffix = '_capsule_mesh'
 Robot.srdfSuffix = '_manipulation'
 
 # Load HRP2 and a screwgun {{{3
 robot = Robot ('hrp2-screw', 'hrp2')
-robot.client.basic.problem.selectPathPlanner ("M-RRT")
-r = Viewer (robot)
+ps = ProblemSolver (robot)
+ps.selectPathPlanner ("M-RRT")
+r = Viewer (ps)
 r.loadObjectModel (ScrewGun, 'screw_gun')
 r.buildCompositeRobot (['hrp2', 'screw_gun'])
 for d in ["hrp2", "screw_gun"]:
   robot.setJointBounds (d+"/base_joint_xyz", [-4,4,-4,4,-4,4])
 
-robot.client.basic.problem.resetRoadmap ()
-robot.client.basic.problem.selectPathOptimizer ('None')
-robot.client.basic.problem.setErrorThreshold (1e-3)
-robot.client.basic.problem.setMaxIterations (40)
+ps.selectPathOptimizer ('None')
+ps.setErrorThreshold (1e-3)
+ps.setMaxIterations (40)
 # 3}}}
 
 # Define configurations {{{3
@@ -44,7 +44,6 @@ q_goal [-7:] = [2, -1, 0.65, 0.7071067811865476, 0, -0.7071067811865475, 0]
 # 3}}}
 
 # Generate constraints {{{3
-p = ProblemSolver (robot)
 graph = ConstraintGraph (robot, 'graph')
 
 
@@ -61,17 +60,17 @@ for n in jointNames['all']:
 graph.createGrasp ('l_grasp', 'hrp2/leftHand', 'screw_gun/handle2', jointNames ['hrp2'])
 graph.createPreGrasp ('l_pregrasp', 'hrp2/leftHand', 'screw_gun/handle2')
 
-lockscrewgun = p.lockFreeFlyerJoint ('screw_gun/base_joint', 'screwgun_lock', parametric = True)
+lockscrewgun = ps.lockFreeFlyerJoint ('screw_gun/base_joint', 'screwgun_lock', parametric = True)
 
 locklhand = ['larm_6','lhand_0','lhand_1','lhand_2','lhand_3','lhand_4']
-p.createLockedDofConstraint ('larm_6' , 'hrp2/LARM_JOINT6' , q_init [ilh], 0, 0)
-p.createLockedDofConstraint ('lhand_0', 'hrp2/LHAND_JOINT0', q_init [ilh+1], 0, 0)
-p.createLockedDofConstraint ('lhand_1', 'hrp2/LHAND_JOINT1', q_init [ilh+2], 0, 0)
-p.createLockedDofConstraint ('lhand_2', 'hrp2/LHAND_JOINT2', q_init [ilh+3], 0, 0)
-p.createLockedDofConstraint ('lhand_3', 'hrp2/LHAND_JOINT3', q_init [ilh+4], 0, 0)
-p.createLockedDofConstraint ('lhand_4', 'hrp2/LHAND_JOINT4', q_init [ilh+5], 0, 0)
-
-p.createStaticStabilityConstraints ("balance", q_init)
+ps.createLockedDofConstraint ('larm_6' , 'hrp2/LARM_JOINT6' , q_init [ilh], 0, 0)
+ps.createLockedDofConstraint ('lhand_0', 'hrp2/LHAND_JOINT0', q_init [ilh+1], 0, 0)
+ps.createLockedDofConstraint ('lhand_1', 'hrp2/LHAND_JOINT1', q_init [ilh+2], 0, 0)
+ps.createLockedDofConstraint ('lhand_2', 'hrp2/LHAND_JOINT2', q_init [ilh+3], 0, 0)
+ps.createLockedDofConstraint ('lhand_3', 'hrp2/LHAND_JOINT3', q_init [ilh+4], 0, 0)
+ps.createLockedDofConstraint ('lhand_4', 'hrp2/LHAND_JOINT4', q_init [ilh+5], 0, 0)
+
+ps.createStaticStabilityConstraints ("balance", q_init)
 # 3}}}
 
 # Create the graph of constraints {{{3
@@ -95,11 +94,11 @@ graph.setConstraints (edge='grasp_e0', lockDof = lockscrewgun)
 graph.setConstraints (node='grasp_n0', pregrasp = 'l_pregrasp')
 graph.setConstraints (edge='grasp_e1', lockDof = lockscrewgun)
 graph.client.graph.setLevelSetConstraints (graph.edges['keep_grasp_ls'], [], lockscrewgun)
-graph.setConstraints (graph=True, lockDof = locklhand, numConstraints=p.balanceConstraints ())
+graph.setConstraints (graph=True, lockDof = locklhand, numConstraints=ps.balanceConstraints ())
 # 3}}}
 
-p.setInitialConfig (q_init)
-p.addGoalConfig (q_goal)
+ps.setInitialConfig (q_init)
+ps.addGoalConfig (q_goal)
 
 from hpp.gepetto import PathPlayer
 pp = PathPlayer (robot.client.basic, r)