updated scenarios to gepetto viewer api updates

script/scenarios/demos/darpa_hyq.py

@@ -33,7 +33,7 @@ fullBody.setJointBounds ("base_joint_xyz", [-2,5, -1, 1, 0.3, 4])
 nbSamples = 20000
 
 ps = tp.ProblemSolver(fullBody)
-r = tp.Viewer (ps)
+r = tp.Viewer (ps, viewerClient=tp.r.client)
 
 rootName = 'base_joint_xyz'
 

script/scenarios/demos/darpa_hyq_path.py

@@ -95,6 +95,6 @@ rbprmBuilder2 = Robot ("toto")
 ps2 = ProblemSolver( rbprmBuilder2 )
 cl.problem.selectProblem("default")
 cl.problem.movePathToProblem(3,"rbprm_path",rbprmBuilder.getAllJointNames())
-r2 = Viewer (ps2)
+r2 = Viewer (ps2, viewerClient=r.client)
 r2(q_far)
 

script/scenarios/demos/ground_crouch_hyq_interp.py

@@ -32,7 +32,7 @@ from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
 nbSamples = 20000
 
 ps = tp.ProblemSolver( fullBody )
-r = tp.Viewer (ps)
+r = tp.Viewer (ps, viewerClient=tp.r.client)
 
 rootName = 'base_joint_xyz'
 

script/scenarios/demos/ground_crouch_hyq_interp_bridge.py

@@ -32,7 +32,7 @@ from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
 nbSamples = 20000
 
 ps = tp.ProblemSolver( fullBody )
-r = tp.Viewer (ps)
+r = tp.Viewer (ps,viewerClient=tp.r.client)
 
 rootName = 'base_joint_xyz'
 

script/scenarios/demos/ground_crouch_hyq_path.py

@@ -90,5 +90,5 @@ rbprmBuilder2 = Robot ("toto")
 ps2 = ProblemSolver( rbprmBuilder2 )
 cl.problem.selectProblem("default")
 cl.problem.movePathToProblem(3,"rbprm_path",rbprmBuilder.getAllJointNames())
-r2 = Viewer (ps2)
+r2 = Viewer (ps2, viewerClient=r.client)
 r2(q_far)

script/scenarios/demos/ground_crouch_hyq_path_bridge.py

@@ -94,8 +94,8 @@ for i in range(1,10):
 cl = Client()
 cl.problem.selectProblem("rbprm_path")
 rbprmBuilder2 = Robot ("toto")
-ps2 = ProblemSolver( rbprmBuilder2 )
+ps2 = ProblemSolver( rbprmBuilder2)
 cl.problem.selectProblem("default")
 cl.problem.movePathToProblem(3,"rbprm_path",rbprmBuilder.getAllJointNames())
-r2 = Viewer (ps2)
+r2 = Viewer (ps2, viewerClient=r.client )
 r2(q_far)

script/scenarios/demos/stair_bauzil_hrp2_interp.py

@@ -23,7 +23,7 @@ fullBody.setJointBounds ("base_joint_xyz", [-0.135,2, -1, 1, 0, 2.2])
 
 
 ps = tp.ProblemSolver( fullBody )
-r = tp.Viewer (ps)
+r = tp.Viewer (ps, viewerClient=tp.r.client)
 
 #~ AFTER loading obstacles
 rLegId = '0rLeg'

script/scenarios/demos/stair_bauzil_hrp2_path.py

@@ -102,7 +102,7 @@ rbprmBuilder2 = Robot ("toto")
 ps2 = ProblemSolver( rbprmBuilder2 )
 cl.problem.selectProblem("default")
 cl.problem.movePathToProblem(1,"rbprm_path",rbprmBuilder.getAllJointNames())
-r2 = Viewer (ps2)
+r2 = Viewer (ps2, viewerClient=r.client)
 r.client.gui.setVisibility("toto", "OFF")
 r.client.gui.setVisibility("hrp2_trunk_flexible", "OFF")
 #~ r2(q_far)