From c93ac8ff5ee6f711d328b8dcba094cffb750eab6 Mon Sep 17 00:00:00 2001
From: pFernbach <pierre.fernbach@gmail.com>
Date: Fri, 28 Jun 2019 16:10:57 +0200
Subject: [PATCH] [script] update to change in hpp-core : renaming of parameter
 forceOrientation

---
 script/scenarios/demos/hyq_slalom_debris_path.py     | 2 +-
 script/scenarios/demos/talos_navBauzil_hard_path.py  | 2 +-
 script/scenarios/demos/talos_navBauzil_path.py       | 2 +-
 script/scenarios/demos/talos_stairs10_path.py        | 2 +-
 script/scenarios/memmo/talos_circle_oriented_path.py | 2 +-
 script/scenarios/memmo/talos_stairs10_random_path.py | 2 +-
 6 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/script/scenarios/demos/hyq_slalom_debris_path.py b/script/scenarios/demos/hyq_slalom_debris_path.py
index 07e8ba7a..fc360019 100644
--- a/script/scenarios/demos/hyq_slalom_debris_path.py
+++ b/script/scenarios/demos/hyq_slalom_debris_path.py
@@ -39,7 +39,7 @@ ps.setParameter("Kinodynamic/accelerationBound",aMax)
 ps.setParameter("DynamicPlanner/sizeFootX",0.01)
 ps.setParameter("DynamicPlanner/sizeFootY",0.01)
 ps.setParameter("DynamicPlanner/friction",0.5)
-ps.setParameter("Kinodynamic/forceOrientation",True)
+ps.setParameter("Kinodynamic/forceYawOrientation",True)
 # sample only configuration with null velocity and acceleration :
 ps.setParameter("ConfigurationShooter/sampleExtraDOF",False)
 ps.setParameter("PathOptimization/RandomShortcut/NumberOfLoops",50)
diff --git a/script/scenarios/demos/talos_navBauzil_hard_path.py b/script/scenarios/demos/talos_navBauzil_hard_path.py
index b03476a9..421e6e83 100644
--- a/script/scenarios/demos/talos_navBauzil_hard_path.py
+++ b/script/scenarios/demos/talos_navBauzil_hard_path.py
@@ -37,7 +37,7 @@ ps = ProblemSolver( rbprmBuilder )
 ps.setParameter("Kinodynamic/velocityBound",vMax)
 ps.setParameter("Kinodynamic/accelerationBound",aMax)
 # force the orientation of the trunk to match the direction of the motion
-ps.setParameter("Kinodynamic/forceOrientation",True)
+ps.setParameter("Kinodynamic/forceYawOrientation",True)
 ps.setParameter("DynamicPlanner/sizeFootX",0.2)
 ps.setParameter("DynamicPlanner/sizeFootY",0.12)
 ps.setParameter("DynamicPlanner/friction",mu)
diff --git a/script/scenarios/demos/talos_navBauzil_path.py b/script/scenarios/demos/talos_navBauzil_path.py
index 7d80c17b..97a7b413 100644
--- a/script/scenarios/demos/talos_navBauzil_path.py
+++ b/script/scenarios/demos/talos_navBauzil_path.py
@@ -38,7 +38,7 @@ ps = ProblemSolver( rbprmBuilder )
 ps.setParameter("Kinodynamic/velocityBound",vMax)
 ps.setParameter("Kinodynamic/accelerationBound",aMax)
 # force the orientation of the trunk to match the direction of the motion
-ps.setParameter("Kinodynamic/forceOrientation",True)
+ps.setParameter("Kinodynamic/forceYawOrientation",True)
 ps.setParameter("DynamicPlanner/sizeFootX",0.2)
 ps.setParameter("DynamicPlanner/sizeFootY",0.12)
 ps.setParameter("DynamicPlanner/friction",mu)
diff --git a/script/scenarios/demos/talos_stairs10_path.py b/script/scenarios/demos/talos_stairs10_path.py
index 27d5e4f8..8918ca81 100644
--- a/script/scenarios/demos/talos_stairs10_path.py
+++ b/script/scenarios/demos/talos_stairs10_path.py
@@ -38,7 +38,7 @@ ps = ProblemSolver( rbprmBuilder )
 ps.setParameter("Kinodynamic/velocityBound",vMax)
 ps.setParameter("Kinodynamic/accelerationBound",aMax)
 # force the orientation of the trunk to match the direction of the motion
-ps.setParameter("Kinodynamic/forceOrientation",False)
+ps.setParameter("Kinodynamic/forceYawOrientation",False)
 ps.setParameter("DynamicPlanner/sizeFootX",0.2)
 ps.setParameter("DynamicPlanner/sizeFootY",0.12)
 ps.setParameter("DynamicPlanner/friction",mu)
diff --git a/script/scenarios/memmo/talos_circle_oriented_path.py b/script/scenarios/memmo/talos_circle_oriented_path.py
index 4a3b2229..eb03e0b0 100644
--- a/script/scenarios/memmo/talos_circle_oriented_path.py
+++ b/script/scenarios/memmo/talos_circle_oriented_path.py
@@ -40,7 +40,7 @@ ps.setParameter("Kinodynamic/accelerationBound",aMax)
 ps.setParameter("DynamicPlanner/sizeFootX",0.2)
 ps.setParameter("DynamicPlanner/sizeFootY",0.12)
 ps.setParameter("DynamicPlanner/friction",0.5)
-ps.setParameter("Kinodynamic/forceOrientation",True)
+ps.setParameter("Kinodynamic/forceYawOrientation",True)
 # sample only configuration with null velocity and acceleration :
 ps.setParameter("ConfigurationShooter/sampleExtraDOF",False)
 
diff --git a/script/scenarios/memmo/talos_stairs10_random_path.py b/script/scenarios/memmo/talos_stairs10_random_path.py
index 80af16cd..f403c523 100644
--- a/script/scenarios/memmo/talos_stairs10_random_path.py
+++ b/script/scenarios/memmo/talos_stairs10_random_path.py
@@ -38,7 +38,7 @@ ps = ProblemSolver( rbprmBuilder )
 ps.setParameter("Kinodynamic/velocityBound",vMax)
 ps.setParameter("Kinodynamic/accelerationBound",aMax)
 # force the orientation of the trunk to match the direction of the motion
-ps.setParameter("Kinodynamic/forceOrientation",True)
+ps.setParameter("Kinodynamic/forceYawOrientation",True)
 ps.setParameter("DynamicPlanner/sizeFootX",0.2)
 ps.setParameter("DynamicPlanner/sizeFootY",0.12)
 ps.setParameter("DynamicPlanner/friction",mu)
-- 
GitLab