From 4437e7c09d92314b97cb99acdd794dfdc47e6de4 Mon Sep 17 00:00:00 2001
From: stevet <stevetonneau@gotmail.fr>
Date: Mon, 14 Jan 2019 11:42:26 +0000
Subject: [PATCH] cleaning demo folder
---
.../anymal_python_script/darpa_anymal.py | 211 ------------------
.../anymal_python_script/darpa_anymal_path.py | 100 ---------
script/scenarios/darpa_hyq_path.py | 83 -------
script/scenarios/demos/darpa_hyq.py | 2 +-
script/scenarios/run.sh | 8 -
script/scenarios/rund.sh | 6 -
.../ground_crouch_hyq_interp.py | 0
.../ground_crouch_hyq_interp_bridge.py | 0
.../ground_crouch_hyq_path.py | 0
.../ground_crouch_hyq_path_bridge.py | 0
script/scenarios/sandbox/log.txt | 7 -
.../polaris/polaris_hrp2_path_2.py | 0
.../polaris/polaris_hrp2_path_3.py | 0
.../polaris/polaris_hrp2_path_4.py | 0
.../polaris/polaris_hrp2_path_no_step.py | 0
.../polaris/poralis_hrp2_interp.py | 0
.../polaris/poralis_hrp2_interp_2.py | 0
.../polaris/poralis_hrp2_interp_3.py | 0
.../polaris/poralis_hrp2_interp_4.py | 0
.../climbing => sandbox/polaris}/run.sh | 0
.../siggraph_asia/bezier_traj.py | 0
.../{demos => sandbox}/siggraph_asia/chair.py | 0
.../siggraph_asia/chair/bezier_traj.py | 0
.../siggraph_asia/chair/chair_hrp2_interp.py | 0
.../siggraph_asia/chair/chair_hrp2_path.py | 0
.../siggraph_asia/chair/hrp2_model.py | 0
.../siggraph_asia/chair/mount_hyq.py | 0
.../siggraph_asia/chair/mount_hyq_path.py | 0
.../siggraph_asia/chair/plan_execute.py | 0
.../siggraph_asia/chair_hrp2_interp.py | 0
.../siggraph_asia/chair_hrp2_path.py | 0
.../siggraph_asia/chair_interp.py | 0
.../siggraph_asia/climbing/19_06_p | 0
.../siggraph_asia/climbing/19_06_p_save | 0
.../siggraph_asia/climbing/19_06_p_saveall | 0
.../siggraph_asia/climbing/19_06_pall | 0
.../siggraph_asia/climbing/19_06_s | 0
.../siggraph_asia/climbing/19_06_s_save | 0
.../siggraph_asia/climbing/bezier_traj.py | 0
.../climbing/climb_crab_interp.py | 0
.../climbing/climb_hrp2_interp.py | 0
.../siggraph_asia/climbing/crab_model.py | 0
.../siggraph_asia/climbing/hrp2_model.py | 0
.../climbing/hrp2_model_grasp.py | 0
.../siggraph_asia/climbing/plan_execute.py | 0
.../siggraph_asia/climbing}/run.sh | 0
.../siggraph_asia/climbing/rund.sh | 0
.../climbing/scale_hrp2_interp.py | 0
.../siggraph_asia/climbing/scale_hrp2_path.py | 0
.../siggraph_asia/climbing/twister_geom.py | 0
.../siggraph_asia/climbing/twister_path.py | 0
.../siggraph_asia/darpa_hyq.py | 0
.../siggraph_asia/darpa_hyq_path.py | 0
.../siggraph_asia/down_hrp2_interp.py | 0
.../siggraph_asia/down_hrp2_interp_comp.py | 0
.../siggraph_asia/down_hrp2_path.py | 0
.../siggraph_asia/grasp_hrp2_interp.py | 0
.../siggraph_asia/grasp_hrp2_interp_comp.py | 0
.../siggraph_asia/grasp_hrp2_path.py | 0
.../siggraph_asia/hrp2_model.py | 0
.../siggraph_asia/hrp2_model_climb.py | 0
.../siggraph_asia/hrp2_model_crazy.py | 0
.../siggraph_asia/hrp2_model_grasp.py | 0
.../siggraph_asia/hrp2_model_no_arm.py | 0
.../siggraph_asia/hyq_mountain/19_06_p | 0
.../siggraph_asia/hyq_mountain/19_06_p_save | 0
.../hyq_mountain/19_06_p_saveall | 0
.../siggraph_asia/hyq_mountain/19_06_pall | 0
.../siggraph_asia/hyq_mountain/19_06_s | 0
.../siggraph_asia/hyq_mountain/19_06_s_save | 0
.../siggraph_asia/hyq_mountain/19_06_sall | 0
.../siggraph_asia/hyq_mountain/bezier_traj.py | 0
.../siggraph_asia/hyq_mountain/hrp2_model.py | 0
.../hyq_mountain/hyq_ref_pose.py | 0
.../siggraph_asia/hyq_mountain/mount_hyq.py | 0
.../hyq_mountain/mount_hyq_path.py | 0
.../siggraph_asia/hyq_mountain/moutain | 0
.../hyq_mountain/plan_execute.py | 0
.../siggraph_asia/hyq_mountain}/run.sh | 0
.../siggraph_asia/hyq_mountain/rund.sh | 0
.../hyq_mountain/scale_hrp2_path.py | 0
.../siggraph_asia/hyq_mountain/twister.txtr | 0
.../siggraph_asia/hyq_ref_pose.py | 0
.../siggraph_asia/mount_hyq.py | 0
.../siggraph_asia/mount_hyq_path.py | 0
.../siggraph_asia/overview/19_06_p | 0
.../siggraph_asia/overview/19_06_p_save | 0
.../siggraph_asia/overview/19_06_p_saveall | 0
.../siggraph_asia/overview/19_06_p_to8 | 0
.../siggraph_asia/overview/19_06_p_to_8 | 0
.../siggraph_asia/overview/19_06_pall | 0
.../siggraph_asia/overview/19_06_s | 0
.../siggraph_asia/overview/19_06_s_save | 0
.../siggraph_asia/overview/19_06_s_to8 | 0
.../siggraph_asia/overview/19_06_s_to_8 | 0
.../siggraph_asia/overview/bezier_traj.py | 0
.../siggraph_asia/overview/crab_model.py | 0
.../siggraph_asia/overview/hrp2_model.py | 0
.../siggraph_asia/overview/hyq_model.py | 0
.../siggraph_asia/overview/overview.py | 0
.../siggraph_asia/overview/overview_path.py | 0
.../siggraph_asia/overview/plan_execute.py | 0
.../siggraph_asia/overview/spidey_model.py | 0
.../siggraph_asia/overview/twister.py | 0
.../siggraph_asia/overview/twister_both.py | 0
.../overview/twister_crab_hrp2.py | 0
.../siggraph_asia/overview/twister_geom.py | 0
.../overview/twister_hyq_hrp2.py | 0
.../overview/twister_hyq_path.py | 0
.../siggraph_asia/overview/twister_path.py | 0
.../siggraph_asia/overview/twister_spidey.py | 0
.../overview/twister_spidey_path.py | 0
.../siggraph_asia/plan_execute.py | 0
.../siggraph_asia/plane_hole/bezier_traj.py | 0
.../siggraph_asia/plane_hole/darpa_hyq.py | 0
.../plane_hole/darpa_hyq_path.py | 0
.../siggraph_asia/plane_hole/hrp2_model.py | 0
.../plane_hole/hrp2_model_no_arm.py | 0
.../siggraph_asia/plane_hole/hyq_ref_pose.py | 0
.../siggraph_asia/plane_hole/plan_execute.py | 0
.../plane_hole/plane_hole_hrp2_interp.py | 0
.../plane_hole/plane_hole_hrp2_path.py | 0
.../plane_hole/stair_bauzil_hrp2_interp.py | 0
.../plane_hole/stair_bauzil_hrp2_path.py | 0
.../siggraph_asia/plane_hole_hrp2_interp.py | 0
.../siggraph_asia/plane_hole_hrp2_path.py | 0
.../siggraph_asia/plane_hrp2_interp.py | 0
.../siggraph_asia/plane_hrp2_interp_acc.py | 0
.../siggraph_asia/plane_hrp2_path.py | 0
.../siggraph_asia}/run.sh | 0
.../{demos => sandbox}/siggraph_asia/rund.sh | 0
.../siggraph_asia/save_hole | 0
.../siggraph_asia/scale_1_save | 0
.../siggraph_asia/scale_hrp2_interp.py | 0
.../siggraph_asia/scale_hrp2_interp_2.py | 0
.../siggraph_asia/scale_hrp2_interp_comp.py | 0
.../siggraph_asia/scale_hrp2_path.py | 0
.../siggraph_asia/scale_hrp2_path_2.py | 0
.../siggraph_asia/spiderman/bezier_traj.py | 0
.../spiderman/down_spidey_interp.py | 0
.../spiderman/down_spidey_path.py | 0
.../siggraph_asia/spiderman/plan_execute.py | 0
.../siggraph_asia/spiderman}/run.sh | 0
.../siggraph_asia/spiderman/rund.sh | 0
.../spiderman/scale_hrp2_path.py | 0
.../spiderman/scale_spidey_interp.py | 0
.../spiderman/scale_spidey_path.py | 0
.../spiderman/spiderman_backJump_interp.py | 0
.../spiderman/spiderman_backJump_path.py | 0
.../spiderman/spiderman_compute_DB.py | 0
.../siggraph_asia/stair_bauzil_hrp2_interp.py | 0
.../stair_bauzil_hrp2_interp2.py | 0
.../stair_bauzil_hrp2_interp3.py | 0
.../siggraph_asia/stair_bauzil_hrp2_path.py | 0
.../siggraph_asia/stair_bauzil_hrp2_path2.py | 0
.../siggraph_asia/stair_bauzil_hrp2_path3.py | 0
.../siggraph_asia/stairs/19_06_p | 0
.../siggraph_asia/stairs/19_06_p_save | 0
.../siggraph_asia/stairs/19_06_p_saveall | 0
.../siggraph_asia/stairs/19_06_pall | 0
.../siggraph_asia/stairs/19_06_s | 0
.../siggraph_asia/stairs/19_06_s_save | 0
.../siggraph_asia/stairs/bezier_traj.py | 0
.../siggraph_asia/stairs/hrp2_model.py | 0
.../siggraph_asia/stairs/plan_execute.py | 0
.../siggraph_asia/stairs}/run.sh | 0
.../siggraph_asia/stairs/rund.sh | 0
.../stairs/stair_bauzil_hrp2_interp.py | 0
.../stairs/stair_bauzil_hrp2_path.py | 0
.../siggraph_asia/stairs/stairs | 0
.../siggraph_asia/twister/16_0 | 0
.../siggraph_asia/twister/16_1 | 0
.../siggraph_asia/twister/19_06_p | 0
.../siggraph_asia/twister/19_06_p_save | 0
.../siggraph_asia/twister/19_06_p_saveall | 0
.../siggraph_asia/twister/19_06_p_to8 | 0
.../siggraph_asia/twister/19_06_p_to_8 | 0
.../siggraph_asia/twister/19_06_pall | 0
.../siggraph_asia/twister/19_06_s | 0
.../siggraph_asia/twister/19_06_s_save | 0
.../siggraph_asia/twister/19_06_s_to8 | 0
.../siggraph_asia/twister/19_06_s_to_8 | 0
.../siggraph_asia/twister/bezier_traj.py | 0
.../siggraph_asia/twister/crab_model.py | 0
.../siggraph_asia/twister/hrp2_model.py | 0
.../siggraph_asia/twister/hyq_model.py | 0
.../siggraph_asia/twister/path_13 | 0
.../siggraph_asia/twister/path_14 | 0
.../siggraph_asia/twister/plan_execute.py | 0
.../siggraph_asia/twister}/run.sh | 0
.../siggraph_asia/twister/rund.sh | 0
.../siggraph_asia/twister/spidey_model.py | 0
.../siggraph_asia/twister/twister.py | 0
.../siggraph_asia/twister/twister_both.py | 0
.../twister/twister_crab_hrp2.py | 0
.../siggraph_asia/twister/twister_geom.py | 0
.../siggraph_asia/twister/twister_hyq_hrp2.py | 0
.../siggraph_asia/twister/twister_hyq_path.py | 0
.../siggraph_asia/twister/twister_path.py | 0
.../siggraph_asia/twister/twister_spidey.py | 0
.../twister/twister_spidey_path.py | 0
.../siggraph_asia/wall_hrp2_interp.py | 0
.../siggraph_asia/wall_hrp2_path.py | 0
.../siggraph_asia/wall_spiderman_path.py | 0
.../siggraph_asia/wall_spidey_interp.py | 0
.../sandbox/stair_bauzil_hrp2_interp.py | 8 +-
.../sandbox/stair_bauzil_hrp2_path.py | 2 +-
207 files changed, 6 insertions(+), 421 deletions(-)
delete mode 100644 script/scenarios/anymal_python_script/darpa_anymal.py
delete mode 100644 script/scenarios/anymal_python_script/darpa_anymal_path.py
delete mode 100755 script/scenarios/darpa_hyq_path.py
delete mode 100755 script/scenarios/run.sh
delete mode 100755 script/scenarios/rund.sh
rename script/scenarios/{demos => sandbox}/ground_crouch_hyq_interp.py (100%)
rename script/scenarios/{demos => sandbox}/ground_crouch_hyq_interp_bridge.py (100%)
rename script/scenarios/{demos => sandbox}/ground_crouch_hyq_path.py (100%)
rename script/scenarios/{demos => sandbox}/ground_crouch_hyq_path_bridge.py (100%)
delete mode 100644 script/scenarios/sandbox/log.txt
rename script/scenarios/{ => sandbox}/polaris/polaris_hrp2_path_2.py (100%)
rename script/scenarios/{ => sandbox}/polaris/polaris_hrp2_path_3.py (100%)
rename script/scenarios/{ => sandbox}/polaris/polaris_hrp2_path_4.py (100%)
rename script/scenarios/{ => sandbox}/polaris/polaris_hrp2_path_no_step.py (100%)
rename script/scenarios/{ => sandbox}/polaris/poralis_hrp2_interp.py (100%)
rename script/scenarios/{ => sandbox}/polaris/poralis_hrp2_interp_2.py (100%)
rename script/scenarios/{ => sandbox}/polaris/poralis_hrp2_interp_3.py (100%)
rename script/scenarios/{ => sandbox}/polaris/poralis_hrp2_interp_4.py (100%)
rename script/scenarios/{demos/siggraph_asia/climbing => sandbox/polaris}/run.sh (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/bezier_traj.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/chair.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/chair/bezier_traj.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/chair/chair_hrp2_interp.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/chair/chair_hrp2_path.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/chair/hrp2_model.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/chair/mount_hyq.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/chair/mount_hyq_path.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/chair/plan_execute.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/chair_hrp2_interp.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/chair_hrp2_path.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/chair_interp.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/climbing/19_06_p (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/climbing/19_06_p_save (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/climbing/19_06_p_saveall (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/climbing/19_06_pall (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/climbing/19_06_s (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/climbing/19_06_s_save (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/climbing/bezier_traj.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/climbing/climb_crab_interp.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/climbing/climb_hrp2_interp.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/climbing/crab_model.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/climbing/hrp2_model.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/climbing/hrp2_model_grasp.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/climbing/plan_execute.py (100%)
rename script/scenarios/{demos/siggraph_asia/hyq_mountain => sandbox/siggraph_asia/climbing}/run.sh (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/climbing/rund.sh (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/climbing/scale_hrp2_interp.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/climbing/scale_hrp2_path.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/climbing/twister_geom.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/climbing/twister_path.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/darpa_hyq.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/darpa_hyq_path.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/down_hrp2_interp.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/down_hrp2_interp_comp.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/down_hrp2_path.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/grasp_hrp2_interp.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/grasp_hrp2_interp_comp.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/grasp_hrp2_path.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/hrp2_model.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/hrp2_model_climb.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/hrp2_model_crazy.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/hrp2_model_grasp.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/hrp2_model_no_arm.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/hyq_mountain/19_06_p (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/hyq_mountain/19_06_p_save (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/hyq_mountain/19_06_p_saveall (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/hyq_mountain/19_06_pall (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/hyq_mountain/19_06_s (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/hyq_mountain/19_06_s_save (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/hyq_mountain/19_06_sall (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/hyq_mountain/bezier_traj.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/hyq_mountain/hrp2_model.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/hyq_mountain/hyq_ref_pose.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/hyq_mountain/mount_hyq.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/hyq_mountain/mount_hyq_path.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/hyq_mountain/moutain (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/hyq_mountain/plan_execute.py (100%)
rename script/scenarios/{demos/siggraph_asia => sandbox/siggraph_asia/hyq_mountain}/run.sh (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/hyq_mountain/rund.sh (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/hyq_mountain/scale_hrp2_path.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/hyq_mountain/twister.txtr (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/hyq_ref_pose.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/mount_hyq.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/mount_hyq_path.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/overview/19_06_p (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/overview/19_06_p_save (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/overview/19_06_p_saveall (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/overview/19_06_p_to8 (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/overview/19_06_p_to_8 (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/overview/19_06_pall (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/overview/19_06_s (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/overview/19_06_s_save (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/overview/19_06_s_to8 (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/overview/19_06_s_to_8 (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/overview/bezier_traj.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/overview/crab_model.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/overview/hrp2_model.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/overview/hyq_model.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/overview/overview.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/overview/overview_path.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/overview/plan_execute.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/overview/spidey_model.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/overview/twister.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/overview/twister_both.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/overview/twister_crab_hrp2.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/overview/twister_geom.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/overview/twister_hyq_hrp2.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/overview/twister_hyq_path.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/overview/twister_path.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/overview/twister_spidey.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/overview/twister_spidey_path.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/plan_execute.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/plane_hole/bezier_traj.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/plane_hole/darpa_hyq.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/plane_hole/darpa_hyq_path.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/plane_hole/hrp2_model.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/plane_hole/hrp2_model_no_arm.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/plane_hole/hyq_ref_pose.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/plane_hole/plan_execute.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/plane_hole/plane_hole_hrp2_interp.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/plane_hole/plane_hole_hrp2_path.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/plane_hole/stair_bauzil_hrp2_interp.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/plane_hole/stair_bauzil_hrp2_path.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/plane_hole_hrp2_interp.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/plane_hole_hrp2_path.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/plane_hrp2_interp.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/plane_hrp2_interp_acc.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/plane_hrp2_path.py (100%)
rename script/scenarios/{demos/siggraph_asia/spiderman => sandbox/siggraph_asia}/run.sh (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/rund.sh (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/save_hole (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/scale_1_save (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/scale_hrp2_interp.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/scale_hrp2_interp_2.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/scale_hrp2_interp_comp.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/scale_hrp2_path.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/scale_hrp2_path_2.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/spiderman/bezier_traj.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/spiderman/down_spidey_interp.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/spiderman/down_spidey_path.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/spiderman/plan_execute.py (100%)
rename script/scenarios/{demos/siggraph_asia/stairs => sandbox/siggraph_asia/spiderman}/run.sh (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/spiderman/rund.sh (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/spiderman/scale_hrp2_path.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/spiderman/scale_spidey_interp.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/spiderman/scale_spidey_path.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/spiderman/spiderman_backJump_interp.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/spiderman/spiderman_backJump_path.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/spiderman/spiderman_compute_DB.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/stair_bauzil_hrp2_interp.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/stair_bauzil_hrp2_interp2.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/stair_bauzil_hrp2_interp3.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/stair_bauzil_hrp2_path.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/stair_bauzil_hrp2_path2.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/stair_bauzil_hrp2_path3.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/stairs/19_06_p (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/stairs/19_06_p_save (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/stairs/19_06_p_saveall (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/stairs/19_06_pall (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/stairs/19_06_s (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/stairs/19_06_s_save (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/stairs/bezier_traj.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/stairs/hrp2_model.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/stairs/plan_execute.py (100%)
rename script/scenarios/{demos/siggraph_asia/twister => sandbox/siggraph_asia/stairs}/run.sh (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/stairs/rund.sh (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/stairs/stair_bauzil_hrp2_interp.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/stairs/stair_bauzil_hrp2_path.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/stairs/stairs (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/twister/16_0 (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/twister/16_1 (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/twister/19_06_p (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/twister/19_06_p_save (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/twister/19_06_p_saveall (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/twister/19_06_p_to8 (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/twister/19_06_p_to_8 (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/twister/19_06_pall (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/twister/19_06_s (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/twister/19_06_s_save (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/twister/19_06_s_to8 (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/twister/19_06_s_to_8 (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/twister/bezier_traj.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/twister/crab_model.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/twister/hrp2_model.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/twister/hyq_model.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/twister/path_13 (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/twister/path_14 (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/twister/plan_execute.py (100%)
rename script/scenarios/{polaris => sandbox/siggraph_asia/twister}/run.sh (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/twister/rund.sh (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/twister/spidey_model.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/twister/twister.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/twister/twister_both.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/twister/twister_crab_hrp2.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/twister/twister_geom.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/twister/twister_hyq_hrp2.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/twister/twister_hyq_path.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/twister/twister_path.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/twister/twister_spidey.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/twister/twister_spidey_path.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/wall_hrp2_interp.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/wall_hrp2_path.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/wall_spiderman_path.py (100%)
rename script/scenarios/{demos => sandbox}/siggraph_asia/wall_spidey_interp.py (100%)
diff --git a/script/scenarios/anymal_python_script/darpa_anymal.py b/script/scenarios/anymal_python_script/darpa_anymal.py
deleted file mode 100644
index 757cb79a..00000000
--- a/script/scenarios/anymal_python_script/darpa_anymal.py
+++ /dev/null
@@ -1,211 +0,0 @@
-#Importing helper class for RBPRM
-from hpp.corbaserver.rbprm.rbprmbuilder import Builder
-from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
-from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
-from hpp.gepetto import Viewer
-
-#calling script darpa_hyq_path to compute root path
-import darpa_anymal_path as tp
-
-from os import environ
-ins_dir = environ['DEVEL_DIR']
-db_dir = ins_dir+"/install/share/hyq-rbprm/database/hyq_"
-
-
-from hpp.corbaserver import Client
-
-packageName = "anymal_description"
-meshPackageName = "anymal_description"
-rootJointType = "freeflyer"
-
-# Information to retrieve urdf and srdf files.
-urdfName = "anymal"
-urdfSuffix = ""
-srdfSuffix = ""
-
-# This time we load the full body model of HyQ
-fullBody = FullBody ()
-print("alive -1")
-fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
-print("alive 0")
-fullBody.setJointBounds ("base_joint_xyz", [-2.5,5, -1, 1, 0.3, 4]) #originally [-2,5, -1, 1, 0.3, 4]
-print("alive 1")
-
-# Setting a number of sample configurations used
-nbSamples = 50000 #used to be 20000
-
-ps = tp.ProblemSolver(fullBody)
-r = tp.Viewer (ps, viewerClient=tp.r.client)
-
-rootName = 'base_joint_xyz'
-
-cType = "_3_DOF"
-rLegId = 'rfleg'
-rLeg = 'RF_HAA'
-rfoot = 'RF_ADAPTER_TO_FOOT'
-offset = [0.,-0.031,0.] #originally [0.,-0.031,0.]
-normal = [0,1,0] #hyq needs [0,1,0], also for anymal
-legx = 0.03; legy = 0.03
-
-def addLimbDb(limbId, heuristicName, loadValues = True, disableEffectorCollision = False):
- fullBody.addLimbDatabase(str(db_dir+limbId+'.db'), limbId, heuristicName,loadValues, disableEffectorCollision)
-
-fullBody.addLimb(rLegId,rLeg,rfoot,offset,normal, legx, legy, nbSamples, "forward", 0.1, cType)
-
-lLegId = 'lhleg'
-lLeg = 'LH_HAA'
-lfoot = 'LH_ADAPTER_TO_FOOT'
-fullBody.addLimb(lLegId,lLeg,lfoot,offset,normal, legx, legy, nbSamples, "random", 0.1, cType)
-#~
-rarmId = 'rhleg'
-rarm = 'RH_HAA'
-rHand = 'RH_ADAPTER_TO_FOOT'
-fullBody.addLimb(rarmId,rarm,rHand,offset,normal, legx, legy, nbSamples, "random", 0.1, cType)
-
-larmId = 'lfleg'
-larm = 'LF_HAA'
-lHand = 'LF_ADAPTER_TO_FOOT'
-fullBody.addLimb(larmId,larm,lHand,offset,normal, legx, legy, nbSamples, "forward", 0.1, cType)
-
-#~ fullBody.runLimbSampleAnalysis(rLegId, "jointLimitsDistance", True)
-#~ fullBody.runLimbSampleAnalysis(lLegId, "jointLimitsDistance", True)
-#~ fullBody.runLimbSampleAnalysis(rarmId, "manipulability", True)
-#~ fullBody.runLimbSampleAnalysis(larmId, "manipulability", True)
-
-q_0 = fullBody.getCurrentConfig();
-q_init = fullBody.getCurrentConfig(); q_init[0:7] = tp.q_init[0:7]
-q_goal = fullBody.getCurrentConfig(); q_goal[0:7] = tp.q_goal[0:7]
-
-# Randomly generating a contact configuration at q_init
-fullBody.setCurrentConfig (q_init)
-q_init = fullBody.generateContacts(q_init, [0,0,1]) #originally [0,0,1]
-#q_init[7:] = [0.0, 0.0, 0.0, \
-# 0.0, 0.0, 0.0, \
-# 0.0, 0.0, 0.0, \
-# 0.0, 0.0, 0.0]
-print "q_init"
-print q_init
-
-# Randomly generating a contact configuration at q_end
-fullBody.setCurrentConfig (q_goal)
-q_goal = fullBody.generateContacts(q_goal, [0,0,1])
-
-# specifying the full body configurations as start and goal state of the problem
-fullBody.setStartState(q_init,[rLegId,lLegId,rarmId,larmId])
-#~ fullBody.setStartState(q_init,[rLegId])
-#~ fullBody.setStartState(q_init,[rLegId,rarmId,larmId])
-fullBody.setEndState(q_goal,[rLegId,lLegId,rarmId,larmId])
-
-
-r(q_init)
-#~ configs = fullBody.interpolate(0.12, 10, 10, True)
-configs = []
-#~ r.loadObstacleModel ('hpp-rbprm-corba', "darpa", "contact")
-
-# calling draw with increasing i will display the sequence
-i = 0;
-#~ fullBody.draw(configs[i],r); i=i+1; i-1
-
-
-from hpp.gepetto import PathPlayer
-#pp = PathPlayer (fullBody.client.basic, r)
-
-
-import time
-
-#DEMO METHODS
-
-def initConfig():
- r.client.gui.setVisibility("anymal", "ON")
- tp.cl.problem.selectProblem("default")
- tp.r.client.gui.setVisibility("toto", "OFF")
- tp.r.client.gui.setVisibility("hyq_trunk_large", "OFF")
- r(q_init)
-
-def endConfig():
- r.client.gui.setVisibility("anymal", "ON")
- tp.cl.problem.selectProblem("default")
- tp.r.client.gui.setVisibility("toto", "OFF")
- tp.r.client.gui.setVisibility("hyq_trunk_large", "OFF")
- r(q_goal)
-
-
-def rootPath():
- r.client.gui.setVisibility("hyq", "OFF")
- tp.cl.problem.selectProblem("rbprm_path")
- tp.r.client.gui.setVisibility("toto", "OFF")
- r.client.gui.setVisibility("hyq", "OFF")
- tp.r.client.gui.setVisibility("hyq_trunk_large", "ON")
- tp.pp(0)
- tp.r.client.gui.setVisibility("hyq_trunk_large", "OFF")
- r.client.gui.setVisibility("anymal", "ON")
- tp.cl.problem.selectProblem("default")
-
-def genPlan(step = 0.06, robustness = 18, cut = True):
- tp.cl.problem.selectProblem("default")
- r.client.gui.setVisibility("anymal", "ON")
- tp.r.client.gui.setVisibility("toto", "OFF")
- tp.r.client.gui.setVisibility("hyq_trunk_large", "OFF")
- global configs
- start = time.clock()
- configs = fullBody.interpolate(step, 10, robustness, filterStates = cut, testReachability=False, quasiStatic=False)
- #~ configs = fullBody.interpolate(step, 10, robustness, cut) #originally (0.12, 10, 10, True)
- end = time.clock()
- print "Last element in interpolated configs"
- print configs[-1]
- print "Contact plan generated in " + str(end-start) + "seconds"
- r(configs[-1])
-
-def contactPlan(t=0.5):
- r.client.gui.setVisibility("anymal", "ON")
- tp.cl.problem.selectProblem("default")
- tp.r.client.gui.setVisibility("toto", "OFF")
- tp.r.client.gui.setVisibility("hyq_trunk_large", "OFF")
- for i in range(1,len(configs)):
- r(configs[i]);
- time.sleep(t)
-
-
-
-def a():
- print "initial configuration"
- initConfig()
-
-def b():
- print "end configuration"
- endConfig()
-
-def c():
- print "displaying root path"
- rootPath()
-
-def d(step = 0.06, robustness = 18, cut = True):
- print "computing contact plan"
- genPlan(step, cut)
-
-def e(t = 0.2):
- print "displaying contact plan"
- contactPlan(t)
-
-print "Root path generated in " + str(tp.t) + " ms."
-
-d(0.005,20)
-
-
-#print "Chcek collisions"
-#print fullBody.isConfigValid(fullBody.getCurrentConfig())
-#print " "
-
-#print "Check candidate configurations"
-#print fullBody.getNumSamples(rLegId)
-#print fullBody.getNumSamples(lLegId)
-#print fullBody.getNumSamples(larmId)
-#print fullBody.getNumSamples(rarmId)
-
-#print "Visualise Voxels"
-#print "Current Configuration"
-#print fullBody.getCurrentConfig()
-#fullBody.createOctreeBoxes(r.client.gui,0,rLegId,fullBody.getCurrentConfig())
-#fullBody.createOctreeBoxes(r.client.gui,0,lLegId,fullBody.getCurrentConfig())
-#fullBody.createOctreeBoxes(r.client.gui,0,larmId,fullBody.getCurrentConfig())
-#fullBody.createOctreeBoxes(r.client.gui,0,rarmId,fullBody.getCurrentConfig())
diff --git a/script/scenarios/anymal_python_script/darpa_anymal_path.py b/script/scenarios/anymal_python_script/darpa_anymal_path.py
deleted file mode 100644
index 1aebf75a..00000000
--- a/script/scenarios/anymal_python_script/darpa_anymal_path.py
+++ /dev/null
@@ -1,100 +0,0 @@
-# Importing helper class for setting up a reachability planning problem
-from hpp.corbaserver.rbprm.rbprmbuilder import Builder
-
-# Importing Gepetto viewer helper class
-from hpp.gepetto import Viewer
-
-rootJointType = 'freeflyer'
-packageName = 'hpp-rbprm-corba'
-meshPackageName = 'hpp-rbprm-corba'
-# URDF file describing the trunk of the robot HyQ
-urdfName = 'anymal_all'
-# URDF files describing the reachable workspace of each limb of HyQ
-urdfNameRom = ['anymal_lhleg_rom','anymal_lfleg_rom','anymal_rfleg_rom','anymal_rhleg_rom']
-urdfSuffix = ""
-srdfSuffix = ""
-
-# Creating an instance of the helper class, and loading the robot
-rbprmBuilder = Builder ()
-rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
-rbprmBuilder.setJointBounds ("base_joint_xyz", [-3,5, -1, 1, 0.3, 4]) #[-2,5, -1, 1, 0.3, 4])
-# The following lines set constraint on the valid configurations:
-# a configuration is valid only if all limbs can create a contact ...
-rbprmBuilder.setFilter(['anymal_rhleg_rom', 'anymal_lfleg_rom', 'anymal_rfleg_rom','anymal_lhleg_rom'])
-rbprmBuilder.setAffordanceFilter('anymal_rhleg_rom', ['Support'])
-rbprmBuilder.setAffordanceFilter('anymal_rfleg_rom', ['Support',])
-rbprmBuilder.setAffordanceFilter('anymal_lhleg_rom', ['Support'])
-rbprmBuilder.setAffordanceFilter('anymal_lfleg_rom', ['Support',])
-# We also bound the rotations of the torso.
-rbprmBuilder.boundSO3([-0.4,0.4,-0.4,0.4,-0.4,0.4]) #original [-0.4,0.4,-3,3,-3,3]
-
-# Creating an instance of HPP problem solver and the viewer
-from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
-ps = ProblemSolver( rbprmBuilder )
-r = Viewer (ps)
-
-# Setting initial and goal configurations
-q_init = rbprmBuilder.getCurrentConfig ();
-q_init [0:3] = [-2.5, 0, 0.49]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
-q_goal = q_init [::]
-q_goal [0:3] = [2, 0, 0.48]; r (q_goal) #[3, 0, 0.5]
-
-# Choosing a path optimizer
-ps.addPathOptimizer("RandomShortcut")
-ps.setInitialConfig (q_init)
-ps.addGoalConfig (q_goal)
-
-from hpp.corbaserver.affordance.affordance import AffordanceTool
-afftool = AffordanceTool ()
-afftool.loadObstacleModel (packageName, "darpa", "planning", r, reduceSizes=[0.05,0.,0.])
-#~ afftool.visualiseAffordances('Support', r, [0.25, 0.5, 0.5])
-
-# Choosing RBPRM shooter and path validation methods.
-# Note that the standard RRT algorithm is used.
-ps.client.problem.selectConFigurationShooter("RbprmShooter")
-ps.client.problem.selectPathValidation("RbprmPathValidation",0.05)
-
-# Solve the problem
-t = ps.solve ()
-if isinstance(t, list):
- t = t[0]* 3600000 + t[1] * 60000 + t[2] * 1000 + t[3]
-
-# Playing the computed path
-from hpp.gepetto import PathPlayer
-pp = PathPlayer (rbprmBuilder.client.basic, r)
-
-q_far = q_init [::]
-q_far [0:3] = [-2, -3, 0.63];
-r(q_far)
-
-for i in range(1,10):
- rbprmBuilder.client.basic.problem.optimizePath(i)
-
-
-from hpp.corbaserver import Client
-from hpp.corbaserver.robot import Robot as Parent
-
-class Robot (Parent):
- rootJointType = 'freeflyer'
- packageName = 'hpp-rbprm-corba'
- meshPackageName = 'hpp-rbprm-corba'
- # URDF file describing the trunk of the robot HyQ
- urdfName = 'anymal_all'
- urdfSuffix = ""
- srdfSuffix = ""
- def __init__ (self, robotName, load = True):
- Parent.__init__ (self, robotName, self.rootJointType, load)
- self.tf_root = "base_footprint"
- self.client.basic = Client ()
- self.load = load
-
- #DEMO code to play root path and final contact plan
-cl = Client()
-cl.problem.selectProblem("rbprm_path")
-rbprmBuilder2 = Robot ("toto")
-ps2 = ProblemSolver( rbprmBuilder2 )
-cl.problem.selectProblem("default")
-cl.problem.movePathToProblem(3,"rbprm_path",rbprmBuilder.getAllJointNames())
-r2 = Viewer (ps2, viewerClient=r.client)
-r2(q_far)
-
diff --git a/script/scenarios/darpa_hyq_path.py b/script/scenarios/darpa_hyq_path.py
deleted file mode 100755
index 6b266b6e..00000000
--- a/script/scenarios/darpa_hyq_path.py
+++ /dev/null
@@ -1,83 +0,0 @@
-# Importing helper class for setting up a reachability planning problem
-from hpp.corbaserver.rbprm.rbprmbuilder import Builder
-
-# Importing Gepetto viewer helper class
-from hpp.gepetto import Viewer
-
-rootJointType = 'freeflyer'
-packageName = 'hpp-rbprm-corba'
-meshPackageName = 'hpp-rbprm-corba'
-# URDF file describing the trunk of the robot HyQ
-urdfName = 'hyq_trunk_large'
-# URDF files describing the reachable workspace of each limb of HyQ
-urdfNameRom = ['hyq_lhleg_rom','hyq_lfleg_rom','hyq_rfleg_rom','hyq_rhleg_rom']
-urdfSuffix = ""
-srdfSuffix = ""
-
-# Creating an instance of the helper class, and loading the robot
-rbprmBuilder = Builder ()
-rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
-rbprmBuilder.setJointBounds ("base_joint_xyz", [-2,5, -1, 1, 0.3, 4])
-# The following lines set constraint on the valid configurations:
-# a configuration is valid only if all limbs can create a contact ...
-rbprmBuilder.setFilter(['hyq_rhleg_rom', 'hyq_lfleg_rom', 'hyq_rfleg_rom','hyq_lhleg_rom'])
-rbprmBuilder.setAffordanceFilter('hyq_rhleg_rom', ['Support'])
-rbprmBuilder.setAffordanceFilter('hyq_rfleg_rom', ['Support',])
-rbprmBuilder.setAffordanceFilter('hyq_lhleg_rom', ['Support'])
-rbprmBuilder.setAffordanceFilter('hyq_lfleg_rom', ['Support',])
-# We also bound the rotations of the torso.
-rbprmBuilder.boundSO3([-0.4,0.4,-3,3,-3,3])
-
-# Creating an instance of HPP problem solver and the viewer
-from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
-ps = ProblemSolver( rbprmBuilder )
-r = Viewer (ps)
-
-# Setting initial and goal configurations
-q_init = rbprmBuilder.getCurrentConfig ();
-q_init [0:3] = [-2, 0, 0.63]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
-q_goal = q_init [::]
-q_goal [0:3] = [3, 0, 0.63]; r (q_goal)
-#~ q_goal [0:3] = [-1.5, 0, 0.63]; r (q_goal)
-
-# Choosing a path optimizer
-ps.addPathOptimizer("RandomShortcut")
-ps.setInitialConfig (q_init)
-ps.addGoalConfig (q_goal)
-
-from hpp.corbaserver.affordance.affordance import AffordanceTool
-afftool = AffordanceTool ()
-afftool.loadObstacleModel (packageName, "darpa", "planning", r)
-afftool.visualiseAffordances('Support', r, [0.25, 0.5, 0.5])
-
-# Choosing RBPRM shooter and path validation methods.
-# Note that the standard RRT algorithm is used.
-ps.client.problem.selectConFigurationShooter("RbprmShooter")
-ps.client.problem.selectPathValidation("RbprmPathValidation",0.05)
-r.loadObstacleModel (packageName, "darpa", "planning")
-r(q_init)
-#~ ps.solve ()
-t = ps.solve ()
-
-#~ print t;
-if isinstance(t, list):
- t = t[0]* 3600000 + t[1] * 60000 + t[2] * 1000 + t[3]
-f = open('log.txt', 'a')
-f.write("path computation " + str(t) + "\n")
-f.close()
-
-
-# Solve the problem
-t = ps.solve ()
-
-# Playing the computed path
-from hpp.gepetto import PathPlayer
-pp = PathPlayer (rbprmBuilder.client.basic, r)
-#~ pp (1)
-
-q_far = q_init [::]
-q_far [0:3] = [-2, -3, 0.63];
-r(q_far)
-
-for i in range(1,10):
- rbprmBuilder.client.basic.problem.optimizePath(i)
diff --git a/script/scenarios/demos/darpa_hyq.py b/script/scenarios/demos/darpa_hyq.py
index 6852c215..cd96ad6f 100644
--- a/script/scenarios/demos/darpa_hyq.py
+++ b/script/scenarios/demos/darpa_hyq.py
@@ -9,7 +9,7 @@ from hyq_ref_pose import hyq_ref
import darpa_hyq_path as tp
from os import environ
-ins_dir = environ['DEVEL_HPP_DIR']
+ins_dir = environ['DEVEL_DIR']
db_dir = ins_dir+"/install/share/hyq-rbprm/database/hyq_"
diff --git a/script/scenarios/run.sh b/script/scenarios/run.sh
deleted file mode 100755
index c249455b..00000000
--- a/script/scenarios/run.sh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/bin/bash
-
-gepetto-viewer-server &
-hpp-rbprm-server &
-ipython -i --no-confirm-exit ./$1
-
-pkill -f 'gepetto-viewer-server'
-pkill -f 'hpp-rbprm-server'
diff --git a/script/scenarios/rund.sh b/script/scenarios/rund.sh
deleted file mode 100755
index eab76452..00000000
--- a/script/scenarios/rund.sh
+++ /dev/null
@@ -1,6 +0,0 @@
-#!/bin/bash
-
-gepetto-viewer-server &
-ipython -i --no-confirm-exit ./$1
-
-pkill -f 'gepetto-viewer-server'
diff --git a/script/scenarios/demos/ground_crouch_hyq_interp.py b/script/scenarios/sandbox/ground_crouch_hyq_interp.py
similarity index 100%
rename from script/scenarios/demos/ground_crouch_hyq_interp.py
rename to script/scenarios/sandbox/ground_crouch_hyq_interp.py
diff --git a/script/scenarios/demos/ground_crouch_hyq_interp_bridge.py b/script/scenarios/sandbox/ground_crouch_hyq_interp_bridge.py
similarity index 100%
rename from script/scenarios/demos/ground_crouch_hyq_interp_bridge.py
rename to script/scenarios/sandbox/ground_crouch_hyq_interp_bridge.py
diff --git a/script/scenarios/demos/ground_crouch_hyq_path.py b/script/scenarios/sandbox/ground_crouch_hyq_path.py
similarity index 100%
rename from script/scenarios/demos/ground_crouch_hyq_path.py
rename to script/scenarios/sandbox/ground_crouch_hyq_path.py
diff --git a/script/scenarios/demos/ground_crouch_hyq_path_bridge.py b/script/scenarios/sandbox/ground_crouch_hyq_path_bridge.py
similarity index 100%
rename from script/scenarios/demos/ground_crouch_hyq_path_bridge.py
rename to script/scenarios/sandbox/ground_crouch_hyq_path_bridge.py
diff --git a/script/scenarios/sandbox/log.txt b/script/scenarios/sandbox/log.txt
deleted file mode 100644
index 55cabad8..00000000
--- a/script/scenarios/sandbox/log.txt
+++ /dev/null
@@ -1,7 +0,0 @@
-path computation 24
-path computation 2
-path computation 3
-path computation 2
-path computation 2
-path computation 2
-path computation 2
diff --git a/script/scenarios/polaris/polaris_hrp2_path_2.py b/script/scenarios/sandbox/polaris/polaris_hrp2_path_2.py
similarity index 100%
rename from script/scenarios/polaris/polaris_hrp2_path_2.py
rename to script/scenarios/sandbox/polaris/polaris_hrp2_path_2.py
diff --git a/script/scenarios/polaris/polaris_hrp2_path_3.py b/script/scenarios/sandbox/polaris/polaris_hrp2_path_3.py
similarity index 100%
rename from script/scenarios/polaris/polaris_hrp2_path_3.py
rename to script/scenarios/sandbox/polaris/polaris_hrp2_path_3.py
diff --git a/script/scenarios/polaris/polaris_hrp2_path_4.py b/script/scenarios/sandbox/polaris/polaris_hrp2_path_4.py
similarity index 100%
rename from script/scenarios/polaris/polaris_hrp2_path_4.py
rename to script/scenarios/sandbox/polaris/polaris_hrp2_path_4.py
diff --git a/script/scenarios/polaris/polaris_hrp2_path_no_step.py b/script/scenarios/sandbox/polaris/polaris_hrp2_path_no_step.py
similarity index 100%
rename from script/scenarios/polaris/polaris_hrp2_path_no_step.py
rename to script/scenarios/sandbox/polaris/polaris_hrp2_path_no_step.py
diff --git a/script/scenarios/polaris/poralis_hrp2_interp.py b/script/scenarios/sandbox/polaris/poralis_hrp2_interp.py
similarity index 100%
rename from script/scenarios/polaris/poralis_hrp2_interp.py
rename to script/scenarios/sandbox/polaris/poralis_hrp2_interp.py
diff --git a/script/scenarios/polaris/poralis_hrp2_interp_2.py b/script/scenarios/sandbox/polaris/poralis_hrp2_interp_2.py
similarity index 100%
rename from script/scenarios/polaris/poralis_hrp2_interp_2.py
rename to script/scenarios/sandbox/polaris/poralis_hrp2_interp_2.py
diff --git a/script/scenarios/polaris/poralis_hrp2_interp_3.py b/script/scenarios/sandbox/polaris/poralis_hrp2_interp_3.py
similarity index 100%
rename from script/scenarios/polaris/poralis_hrp2_interp_3.py
rename to script/scenarios/sandbox/polaris/poralis_hrp2_interp_3.py
diff --git a/script/scenarios/polaris/poralis_hrp2_interp_4.py b/script/scenarios/sandbox/polaris/poralis_hrp2_interp_4.py
similarity index 100%
rename from script/scenarios/polaris/poralis_hrp2_interp_4.py
rename to script/scenarios/sandbox/polaris/poralis_hrp2_interp_4.py
diff --git a/script/scenarios/demos/siggraph_asia/climbing/run.sh b/script/scenarios/sandbox/polaris/run.sh
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/climbing/run.sh
rename to script/scenarios/sandbox/polaris/run.sh
diff --git a/script/scenarios/demos/siggraph_asia/bezier_traj.py b/script/scenarios/sandbox/siggraph_asia/bezier_traj.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/bezier_traj.py
rename to script/scenarios/sandbox/siggraph_asia/bezier_traj.py
diff --git a/script/scenarios/demos/siggraph_asia/chair.py b/script/scenarios/sandbox/siggraph_asia/chair.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/chair.py
rename to script/scenarios/sandbox/siggraph_asia/chair.py
diff --git a/script/scenarios/demos/siggraph_asia/chair/bezier_traj.py b/script/scenarios/sandbox/siggraph_asia/chair/bezier_traj.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/chair/bezier_traj.py
rename to script/scenarios/sandbox/siggraph_asia/chair/bezier_traj.py
diff --git a/script/scenarios/demos/siggraph_asia/chair/chair_hrp2_interp.py b/script/scenarios/sandbox/siggraph_asia/chair/chair_hrp2_interp.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/chair/chair_hrp2_interp.py
rename to script/scenarios/sandbox/siggraph_asia/chair/chair_hrp2_interp.py
diff --git a/script/scenarios/demos/siggraph_asia/chair/chair_hrp2_path.py b/script/scenarios/sandbox/siggraph_asia/chair/chair_hrp2_path.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/chair/chair_hrp2_path.py
rename to script/scenarios/sandbox/siggraph_asia/chair/chair_hrp2_path.py
diff --git a/script/scenarios/demos/siggraph_asia/chair/hrp2_model.py b/script/scenarios/sandbox/siggraph_asia/chair/hrp2_model.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/chair/hrp2_model.py
rename to script/scenarios/sandbox/siggraph_asia/chair/hrp2_model.py
diff --git a/script/scenarios/demos/siggraph_asia/chair/mount_hyq.py b/script/scenarios/sandbox/siggraph_asia/chair/mount_hyq.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/chair/mount_hyq.py
rename to script/scenarios/sandbox/siggraph_asia/chair/mount_hyq.py
diff --git a/script/scenarios/demos/siggraph_asia/chair/mount_hyq_path.py b/script/scenarios/sandbox/siggraph_asia/chair/mount_hyq_path.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/chair/mount_hyq_path.py
rename to script/scenarios/sandbox/siggraph_asia/chair/mount_hyq_path.py
diff --git a/script/scenarios/demos/siggraph_asia/chair/plan_execute.py b/script/scenarios/sandbox/siggraph_asia/chair/plan_execute.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/chair/plan_execute.py
rename to script/scenarios/sandbox/siggraph_asia/chair/plan_execute.py
diff --git a/script/scenarios/demos/siggraph_asia/chair_hrp2_interp.py b/script/scenarios/sandbox/siggraph_asia/chair_hrp2_interp.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/chair_hrp2_interp.py
rename to script/scenarios/sandbox/siggraph_asia/chair_hrp2_interp.py
diff --git a/script/scenarios/demos/siggraph_asia/chair_hrp2_path.py b/script/scenarios/sandbox/siggraph_asia/chair_hrp2_path.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/chair_hrp2_path.py
rename to script/scenarios/sandbox/siggraph_asia/chair_hrp2_path.py
diff --git a/script/scenarios/demos/siggraph_asia/chair_interp.py b/script/scenarios/sandbox/siggraph_asia/chair_interp.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/chair_interp.py
rename to script/scenarios/sandbox/siggraph_asia/chair_interp.py
diff --git a/script/scenarios/demos/siggraph_asia/climbing/19_06_p b/script/scenarios/sandbox/siggraph_asia/climbing/19_06_p
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/climbing/19_06_p
rename to script/scenarios/sandbox/siggraph_asia/climbing/19_06_p
diff --git a/script/scenarios/demos/siggraph_asia/climbing/19_06_p_save b/script/scenarios/sandbox/siggraph_asia/climbing/19_06_p_save
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/climbing/19_06_p_save
rename to script/scenarios/sandbox/siggraph_asia/climbing/19_06_p_save
diff --git a/script/scenarios/demos/siggraph_asia/climbing/19_06_p_saveall b/script/scenarios/sandbox/siggraph_asia/climbing/19_06_p_saveall
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/climbing/19_06_p_saveall
rename to script/scenarios/sandbox/siggraph_asia/climbing/19_06_p_saveall
diff --git a/script/scenarios/demos/siggraph_asia/climbing/19_06_pall b/script/scenarios/sandbox/siggraph_asia/climbing/19_06_pall
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/climbing/19_06_pall
rename to script/scenarios/sandbox/siggraph_asia/climbing/19_06_pall
diff --git a/script/scenarios/demos/siggraph_asia/climbing/19_06_s b/script/scenarios/sandbox/siggraph_asia/climbing/19_06_s
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/climbing/19_06_s
rename to script/scenarios/sandbox/siggraph_asia/climbing/19_06_s
diff --git a/script/scenarios/demos/siggraph_asia/climbing/19_06_s_save b/script/scenarios/sandbox/siggraph_asia/climbing/19_06_s_save
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/climbing/19_06_s_save
rename to script/scenarios/sandbox/siggraph_asia/climbing/19_06_s_save
diff --git a/script/scenarios/demos/siggraph_asia/climbing/bezier_traj.py b/script/scenarios/sandbox/siggraph_asia/climbing/bezier_traj.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/climbing/bezier_traj.py
rename to script/scenarios/sandbox/siggraph_asia/climbing/bezier_traj.py
diff --git a/script/scenarios/demos/siggraph_asia/climbing/climb_crab_interp.py b/script/scenarios/sandbox/siggraph_asia/climbing/climb_crab_interp.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/climbing/climb_crab_interp.py
rename to script/scenarios/sandbox/siggraph_asia/climbing/climb_crab_interp.py
diff --git a/script/scenarios/demos/siggraph_asia/climbing/climb_hrp2_interp.py b/script/scenarios/sandbox/siggraph_asia/climbing/climb_hrp2_interp.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/climbing/climb_hrp2_interp.py
rename to script/scenarios/sandbox/siggraph_asia/climbing/climb_hrp2_interp.py
diff --git a/script/scenarios/demos/siggraph_asia/climbing/crab_model.py b/script/scenarios/sandbox/siggraph_asia/climbing/crab_model.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/climbing/crab_model.py
rename to script/scenarios/sandbox/siggraph_asia/climbing/crab_model.py
diff --git a/script/scenarios/demos/siggraph_asia/climbing/hrp2_model.py b/script/scenarios/sandbox/siggraph_asia/climbing/hrp2_model.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/climbing/hrp2_model.py
rename to script/scenarios/sandbox/siggraph_asia/climbing/hrp2_model.py
diff --git a/script/scenarios/demos/siggraph_asia/climbing/hrp2_model_grasp.py b/script/scenarios/sandbox/siggraph_asia/climbing/hrp2_model_grasp.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/climbing/hrp2_model_grasp.py
rename to script/scenarios/sandbox/siggraph_asia/climbing/hrp2_model_grasp.py
diff --git a/script/scenarios/demos/siggraph_asia/climbing/plan_execute.py b/script/scenarios/sandbox/siggraph_asia/climbing/plan_execute.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/climbing/plan_execute.py
rename to script/scenarios/sandbox/siggraph_asia/climbing/plan_execute.py
diff --git a/script/scenarios/demos/siggraph_asia/hyq_mountain/run.sh b/script/scenarios/sandbox/siggraph_asia/climbing/run.sh
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/hyq_mountain/run.sh
rename to script/scenarios/sandbox/siggraph_asia/climbing/run.sh
diff --git a/script/scenarios/demos/siggraph_asia/climbing/rund.sh b/script/scenarios/sandbox/siggraph_asia/climbing/rund.sh
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/climbing/rund.sh
rename to script/scenarios/sandbox/siggraph_asia/climbing/rund.sh
diff --git a/script/scenarios/demos/siggraph_asia/climbing/scale_hrp2_interp.py b/script/scenarios/sandbox/siggraph_asia/climbing/scale_hrp2_interp.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/climbing/scale_hrp2_interp.py
rename to script/scenarios/sandbox/siggraph_asia/climbing/scale_hrp2_interp.py
diff --git a/script/scenarios/demos/siggraph_asia/climbing/scale_hrp2_path.py b/script/scenarios/sandbox/siggraph_asia/climbing/scale_hrp2_path.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/climbing/scale_hrp2_path.py
rename to script/scenarios/sandbox/siggraph_asia/climbing/scale_hrp2_path.py
diff --git a/script/scenarios/demos/siggraph_asia/climbing/twister_geom.py b/script/scenarios/sandbox/siggraph_asia/climbing/twister_geom.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/climbing/twister_geom.py
rename to script/scenarios/sandbox/siggraph_asia/climbing/twister_geom.py
diff --git a/script/scenarios/demos/siggraph_asia/climbing/twister_path.py b/script/scenarios/sandbox/siggraph_asia/climbing/twister_path.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/climbing/twister_path.py
rename to script/scenarios/sandbox/siggraph_asia/climbing/twister_path.py
diff --git a/script/scenarios/demos/siggraph_asia/darpa_hyq.py b/script/scenarios/sandbox/siggraph_asia/darpa_hyq.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/darpa_hyq.py
rename to script/scenarios/sandbox/siggraph_asia/darpa_hyq.py
diff --git a/script/scenarios/demos/siggraph_asia/darpa_hyq_path.py b/script/scenarios/sandbox/siggraph_asia/darpa_hyq_path.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/darpa_hyq_path.py
rename to script/scenarios/sandbox/siggraph_asia/darpa_hyq_path.py
diff --git a/script/scenarios/demos/siggraph_asia/down_hrp2_interp.py b/script/scenarios/sandbox/siggraph_asia/down_hrp2_interp.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/down_hrp2_interp.py
rename to script/scenarios/sandbox/siggraph_asia/down_hrp2_interp.py
diff --git a/script/scenarios/demos/siggraph_asia/down_hrp2_interp_comp.py b/script/scenarios/sandbox/siggraph_asia/down_hrp2_interp_comp.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/down_hrp2_interp_comp.py
rename to script/scenarios/sandbox/siggraph_asia/down_hrp2_interp_comp.py
diff --git a/script/scenarios/demos/siggraph_asia/down_hrp2_path.py b/script/scenarios/sandbox/siggraph_asia/down_hrp2_path.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/down_hrp2_path.py
rename to script/scenarios/sandbox/siggraph_asia/down_hrp2_path.py
diff --git a/script/scenarios/demos/siggraph_asia/grasp_hrp2_interp.py b/script/scenarios/sandbox/siggraph_asia/grasp_hrp2_interp.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/grasp_hrp2_interp.py
rename to script/scenarios/sandbox/siggraph_asia/grasp_hrp2_interp.py
diff --git a/script/scenarios/demos/siggraph_asia/grasp_hrp2_interp_comp.py b/script/scenarios/sandbox/siggraph_asia/grasp_hrp2_interp_comp.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/grasp_hrp2_interp_comp.py
rename to script/scenarios/sandbox/siggraph_asia/grasp_hrp2_interp_comp.py
diff --git a/script/scenarios/demos/siggraph_asia/grasp_hrp2_path.py b/script/scenarios/sandbox/siggraph_asia/grasp_hrp2_path.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/grasp_hrp2_path.py
rename to script/scenarios/sandbox/siggraph_asia/grasp_hrp2_path.py
diff --git a/script/scenarios/demos/siggraph_asia/hrp2_model.py b/script/scenarios/sandbox/siggraph_asia/hrp2_model.py
similarity index 100%
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diff --git a/script/scenarios/demos/siggraph_asia/plane_hole_hrp2_path.py b/script/scenarios/sandbox/siggraph_asia/plane_hole_hrp2_path.py
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rename to script/scenarios/sandbox/siggraph_asia/plane_hole_hrp2_path.py
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rename from script/scenarios/demos/siggraph_asia/plane_hrp2_path.py
rename to script/scenarios/sandbox/siggraph_asia/plane_hrp2_path.py
diff --git a/script/scenarios/demos/siggraph_asia/spiderman/run.sh b/script/scenarios/sandbox/siggraph_asia/run.sh
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rename to script/scenarios/sandbox/siggraph_asia/run.sh
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rename to script/scenarios/sandbox/siggraph_asia/rund.sh
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rename to script/scenarios/sandbox/siggraph_asia/scale_hrp2_path_2.py
diff --git a/script/scenarios/demos/siggraph_asia/spiderman/bezier_traj.py b/script/scenarios/sandbox/siggraph_asia/spiderman/bezier_traj.py
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rename to script/scenarios/sandbox/siggraph_asia/spiderman/bezier_traj.py
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rename to script/scenarios/sandbox/siggraph_asia/spiderman/plan_execute.py
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rename to script/scenarios/sandbox/siggraph_asia/spiderman/run.sh
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rename to script/scenarios/sandbox/siggraph_asia/spiderman/scale_spidey_path.py
diff --git a/script/scenarios/demos/siggraph_asia/spiderman/spiderman_backJump_interp.py b/script/scenarios/sandbox/siggraph_asia/spiderman/spiderman_backJump_interp.py
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rename from script/scenarios/demos/siggraph_asia/spiderman/spiderman_backJump_interp.py
rename to script/scenarios/sandbox/siggraph_asia/spiderman/spiderman_backJump_interp.py
diff --git a/script/scenarios/demos/siggraph_asia/spiderman/spiderman_backJump_path.py b/script/scenarios/sandbox/siggraph_asia/spiderman/spiderman_backJump_path.py
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rename to script/scenarios/sandbox/siggraph_asia/spiderman/spiderman_backJump_path.py
diff --git a/script/scenarios/demos/siggraph_asia/spiderman/spiderman_compute_DB.py b/script/scenarios/sandbox/siggraph_asia/spiderman/spiderman_compute_DB.py
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rename to script/scenarios/sandbox/siggraph_asia/spiderman/spiderman_compute_DB.py
diff --git a/script/scenarios/demos/siggraph_asia/stair_bauzil_hrp2_interp.py b/script/scenarios/sandbox/siggraph_asia/stair_bauzil_hrp2_interp.py
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rename to script/scenarios/sandbox/siggraph_asia/stairs/plan_execute.py
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diff --git a/script/scenarios/demos/siggraph_asia/twister/spidey_model.py b/script/scenarios/sandbox/siggraph_asia/twister/spidey_model.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/twister/spidey_model.py
rename to script/scenarios/sandbox/siggraph_asia/twister/spidey_model.py
diff --git a/script/scenarios/demos/siggraph_asia/twister/twister.py b/script/scenarios/sandbox/siggraph_asia/twister/twister.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/twister/twister.py
rename to script/scenarios/sandbox/siggraph_asia/twister/twister.py
diff --git a/script/scenarios/demos/siggraph_asia/twister/twister_both.py b/script/scenarios/sandbox/siggraph_asia/twister/twister_both.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/twister/twister_both.py
rename to script/scenarios/sandbox/siggraph_asia/twister/twister_both.py
diff --git a/script/scenarios/demos/siggraph_asia/twister/twister_crab_hrp2.py b/script/scenarios/sandbox/siggraph_asia/twister/twister_crab_hrp2.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/twister/twister_crab_hrp2.py
rename to script/scenarios/sandbox/siggraph_asia/twister/twister_crab_hrp2.py
diff --git a/script/scenarios/demos/siggraph_asia/twister/twister_geom.py b/script/scenarios/sandbox/siggraph_asia/twister/twister_geom.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/twister/twister_geom.py
rename to script/scenarios/sandbox/siggraph_asia/twister/twister_geom.py
diff --git a/script/scenarios/demos/siggraph_asia/twister/twister_hyq_hrp2.py b/script/scenarios/sandbox/siggraph_asia/twister/twister_hyq_hrp2.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/twister/twister_hyq_hrp2.py
rename to script/scenarios/sandbox/siggraph_asia/twister/twister_hyq_hrp2.py
diff --git a/script/scenarios/demos/siggraph_asia/twister/twister_hyq_path.py b/script/scenarios/sandbox/siggraph_asia/twister/twister_hyq_path.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/twister/twister_hyq_path.py
rename to script/scenarios/sandbox/siggraph_asia/twister/twister_hyq_path.py
diff --git a/script/scenarios/demos/siggraph_asia/twister/twister_path.py b/script/scenarios/sandbox/siggraph_asia/twister/twister_path.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/twister/twister_path.py
rename to script/scenarios/sandbox/siggraph_asia/twister/twister_path.py
diff --git a/script/scenarios/demos/siggraph_asia/twister/twister_spidey.py b/script/scenarios/sandbox/siggraph_asia/twister/twister_spidey.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/twister/twister_spidey.py
rename to script/scenarios/sandbox/siggraph_asia/twister/twister_spidey.py
diff --git a/script/scenarios/demos/siggraph_asia/twister/twister_spidey_path.py b/script/scenarios/sandbox/siggraph_asia/twister/twister_spidey_path.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/twister/twister_spidey_path.py
rename to script/scenarios/sandbox/siggraph_asia/twister/twister_spidey_path.py
diff --git a/script/scenarios/demos/siggraph_asia/wall_hrp2_interp.py b/script/scenarios/sandbox/siggraph_asia/wall_hrp2_interp.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/wall_hrp2_interp.py
rename to script/scenarios/sandbox/siggraph_asia/wall_hrp2_interp.py
diff --git a/script/scenarios/demos/siggraph_asia/wall_hrp2_path.py b/script/scenarios/sandbox/siggraph_asia/wall_hrp2_path.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/wall_hrp2_path.py
rename to script/scenarios/sandbox/siggraph_asia/wall_hrp2_path.py
diff --git a/script/scenarios/demos/siggraph_asia/wall_spiderman_path.py b/script/scenarios/sandbox/siggraph_asia/wall_spiderman_path.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/wall_spiderman_path.py
rename to script/scenarios/sandbox/siggraph_asia/wall_spiderman_path.py
diff --git a/script/scenarios/demos/siggraph_asia/wall_spidey_interp.py b/script/scenarios/sandbox/siggraph_asia/wall_spidey_interp.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/wall_spidey_interp.py
rename to script/scenarios/sandbox/siggraph_asia/wall_spidey_interp.py
diff --git a/script/scenarios/sandbox/stair_bauzil_hrp2_interp.py b/script/scenarios/sandbox/stair_bauzil_hrp2_interp.py
index 5bd9255e..5fcacfe9 100755
--- a/script/scenarios/sandbox/stair_bauzil_hrp2_interp.py
+++ b/script/scenarios/sandbox/stair_bauzil_hrp2_interp.py
@@ -117,7 +117,7 @@ r(q_goal)
fullBody.setStartState(q_init,[rLegId,lLegId]) #,rarmId,larmId])
fullBody.setEndState(q_goal,[rLegId,lLegId])#,rarmId,larmId])
-configs = fullBody.interpolate(0.1, robustnessTreshold = 15) #TODO DEBUG
+configs = fullBody.interpolate(0.1, robustnessTreshold = 5) #TODO DEBUG
#~ i = 0;
#~ fullBody.draw(configs[i],r); i=i+1; i-1
@@ -148,7 +148,7 @@ limbsCOMConstraints = { rLegId : {'file': "hrp2/RL_com.ineq", 'effector' : 'RLEG
#~ fullBody.limbRRTFromRootPath(0,len(configs)-1,0,2)
from hpp.corbaserver.rbprm.tools.cwc_trajectory_helper import step, clean,stats, saveAllData, play_traj
from hpp.gepetto import PathPlayer
-pp = PathPlayer (fullBody.client.basic, r)
+pp = PathPlayer (fullBody.client, r)
def act(i, numOptim = 0, use_window = 0, friction = 0.5, optim_effectors = True, verbose = False, draw = False):
return step(fullBody, configs, i, numOptim, pp, limbsCOMConstraints, 0.4, optim_effectors = optim_effectors, time_scale = 20., useCOMConstraints = True, use_window = use_window,
@@ -216,7 +216,7 @@ def e():
#~ fullBody.limbRRTFromRootPath(0,len(configs)-1,0,2)
from hpp.corbaserver.rbprm.tools.cwc_trajectory_helper import step, clean,stats, saveAllData, play_traj
from hpp.gepetto import PathPlayer
-pp = PathPlayer (fullBody.client.basic, r)
+pp = PathPlayer (fullBody.client, r)
def act(i, numOptim = 0, use_window = 0, friction = 0.5, optim_effectors = False, verbose = False, draw = False, trackedEffectors = []):
return step(fullBody, configs, i, numOptim, pp, limbsCOMConstraints, 0.4, optim_effectors = optim_effectors, time_scale = 20., useCOMConstraints = False, use_window = use_window,
@@ -234,7 +234,7 @@ print "go"
from hpp.corbaserver.rbprm.rbprmstate import *
-com = fullBody.client.basic.robot.getCenterOfMass
+#~ com = fullBody.client.basic.robot.getCenterOfMass
s = None
def d1():
global s
diff --git a/script/scenarios/sandbox/stair_bauzil_hrp2_path.py b/script/scenarios/sandbox/stair_bauzil_hrp2_path.py
index 0cf30faa..3077130d 100755
--- a/script/scenarios/sandbox/stair_bauzil_hrp2_path.py
+++ b/script/scenarios/sandbox/stair_bauzil_hrp2_path.py
@@ -41,7 +41,7 @@ rbprmBuilder.setAffordanceFilter('1lLeg', ['Support'])
rbprmBuilder.boundSO3([-0.,0,-1,1,-1,1])
#~ from hpp.corbaserver.rbprm. import ProblemSolver
-from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
+from hpp.corbaserver.problem_solver import ProblemSolver
ps = ProblemSolver( rbprmBuilder )
r = Viewer (ps)
--
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