[Python] AbstractPathPlanner constructor take an optionnal 'context' argument

src/hpp/corbaserver/rbprm/scenarios/abstract_path_planner.py

 from abc import abstractmethod
 from hpp.gepetto import ViewerFactory, PathPlayer
 from hpp.corbaserver.affordance.affordance import AffordanceTool
-from hpp.corbaserver import ProblemSolver
+from hpp.corbaserver import ProblemSolver, Client
+from hpp.corbaserver import createContext, loadServerPlugin
+from hpp.corbaserver.rbprm import Client as RbprmClient
 
 class AbstractPathPlanner:
 
@@ -13,7 +15,11 @@ class AbstractPathPlanner:
     extra_dof_bounds = None
     robot_node_name = None  # name of the robot in the node list of the viewer
 
-    def __init__(self):
+    def __init__(self, context = None):
+        """
+        Constructor
+        :param context: An optional string that give a name to a corba context instance
+        """
         self.v_max = -1  # bounds on the linear velocity for the root, negative values mean unused
         self.a_max = -1  # bounds on the linear acceleration for the root, negative values mean unused
         self.root_translation_bounds = [0] * 6  # bounds on the root translation position (-x, +x, -y, +y, -z, +z)
@@ -27,6 +33,17 @@ class AbstractPathPlanner:
         self.size_foot_y = 0  # size of the feet along the y axis
         self.q_init = []
         self.q_goal = []
+        self.context = context
+        if context:
+            createContext(context)
+            loadServerPlugin(context, 'rbprm-corba.so')
+            loadServerPlugin(context, 'affordance-corba.so')
+            self.hpp_client = Client(context=context)
+            self.hpp_client.problem.selectProblem(context)
+            self.rbprm_client = RbprmClient(context=context)
+        else:
+            self.hpp_client = None
+            self.rbprm_client = None
 
     @abstractmethod
     def load_rbprm(self):
@@ -107,7 +124,11 @@ class AbstractPathPlanner:
         :param visualize_affordances: list of affordances type to visualize, default to none
         """
         vf = ViewerFactory(self.ps)
-        self.afftool = AffordanceTool()
+        if self.context:
+            self.afftool = AffordanceTool(context=self.context)
+            self.afftool.client.affordance.affordance.resetAffordanceConfig()  # FIXME: this should be called in afftool constructor
+        else:
+            self.afftool = AffordanceTool()
         self.afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005])
         self.afftool.loadObstacleModel("package://"+env_package + "/urdf/" + env_name + ".urdf",
                                        "planning", vf, reduceSizes=reduce_sizes)

src/hpp/corbaserver/rbprm/scenarios/anymal_path_planner.py

@@ -2,8 +2,8 @@ from .abstract_path_planner import AbstractPathPlanner
 
 
 class AnymalPathPlanner(AbstractPathPlanner):
-    def __init__(self):
-        super().__init__()
+    def __init__(self, context = None):
+        super().__init__(context)
         # set default bounds to a large workspace on x,y with small interval around reference z value
         self.root_translation_bounds = [-5., 5., -5., 5., 0.4, 0.5]
         # set default used limbs to be both feet
@@ -20,7 +20,7 @@ class AnymalPathPlanner(AbstractPathPlanner):
 
     def load_rbprm(self):
         from hpp.corbaserver.rbprm.anymal_abstract import Robot
-        self.rbprmBuilder = Robot()
+        self.rbprmBuilder = Robot(client=self.hpp_client, clientRbprm=self.rbprm_client)
 
     def set_joints_bounds(self):
         super().set_joints_bounds()

src/hpp/corbaserver/rbprm/scenarios/hrp2_path_planner.py

@@ -2,8 +2,8 @@ from .abstract_path_planner import AbstractPathPlanner
 
 
 class HRP2PathPlanner(AbstractPathPlanner):
-    def __init__(self):
-        super().__init__()
+    def __init__(self, context = None):
+        super().__init__(context)
         # set default bounds to a large workspace on x,y with small interval around reference z value
         self.root_translation_bounds = [-5., 5., -5., 5., 0.5, 0.8]
         # set default used limbs to be both feet
@@ -20,4 +20,4 @@ class HRP2PathPlanner(AbstractPathPlanner):
 
     def load_rbprm(self):
         from hpp.corbaserver.rbprm.hrp2_abstract import Robot
-        self.rbprmBuilder = Robot()
+        self.rbprmBuilder = Robot(client=self.hpp_client, clientRbprm=self.rbprm_client)

src/hpp/corbaserver/rbprm/scenarios/hyq_path_planner.py

@@ -2,8 +2,8 @@ from .abstract_path_planner import AbstractPathPlanner
 
 
 class HyqPathPlanner(AbstractPathPlanner):
-    def __init__(self):
-        super().__init__()
+    def __init__(self, context = None):
+        super().__init__(context)
         # set default bounds to a large workspace on x,y with small interval around reference z value
         self.root_translation_bounds = [-5., 5., -5., 5., 0.5, 0.75]
         # set default used limbs to be both feet
@@ -20,7 +20,7 @@ class HyqPathPlanner(AbstractPathPlanner):
 
     def load_rbprm(self):
         from hpp.corbaserver.rbprm.hyq_abstract import Robot
-        self.rbprmBuilder = Robot()
+        self.rbprmBuilder = Robot(client=self.hpp_client, clientRbprm=self.rbprm_client)
 
     def set_joints_bounds(self):
         super().set_joints_bounds()

src/hpp/corbaserver/rbprm/scenarios/talos_path_planner.py

@@ -2,8 +2,8 @@ from .abstract_path_planner import AbstractPathPlanner
 
 
 class TalosPathPlanner(AbstractPathPlanner):
-    def __init__(self):
-        super().__init__()
+    def __init__(self, context = None):
+        super().__init__(context)
         # set default bounds to a large workspace on x,y with small interval around reference z value
         self.root_translation_bounds = [-5., 5., -5., 5., 0.95, 1.05]
         # set default used limbs to be both feet
@@ -20,7 +20,7 @@ class TalosPathPlanner(AbstractPathPlanner):
 
     def load_rbprm(self):
         from talos_rbprm.talos_abstract import Robot
-        self.rbprmBuilder = Robot()
+        self.rbprmBuilder = Robot(client=self.hpp_client, clientRbprm=self.rbprm_client)
 
     def set_joints_bounds(self):
         super().set_joints_bounds()