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 757cb79ae38969af43abc02253abe5d8e2b69be6..0000000000000000000000000000000000000000
--- 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 1aebf75a7204aa1e15015342a98dcd6777fb1e5d..0000000000000000000000000000000000000000
--- 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 6b266b6e6fc1c473468e759e23b56fc7243f7f0d..0000000000000000000000000000000000000000
--- 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 6852c215051477d85a140011529fc4b5c8093a5f..2b4b3122bac97208a99b8ab7b2d39b1ba2d9bc3b 100644
--- a/script/scenarios/demos/darpa_hyq.py
+++ b/script/scenarios/demos/darpa_hyq.py
@@ -42,7 +42,6 @@ cType = "_3_DOF"
rLegId = 'rfleg'
rLeg = 'rf_haa_joint'
rfoot = 'rf_foot_joint'
-#~ offset = [0.,-0.021,0.]
offset = [0.,-0.021,0.]
normal = [0,1,0]
legx = 0.02; legy = 0.02
@@ -72,11 +71,6 @@ fullBody.addLimb(larmId,larm,lHand,offset,normal, legx, legy, nbSamples, "random
#~ fullBody.runLimbSampleAnalysis(rarmId, "jointLimitsDistance", True)
#~ fullBody.runLimbSampleAnalysis(larmId, "jointLimitsDistance", True)
-#~ q_init = hyq_ref[:]; q_init[0:7] = tp.q_init[0:7];
-#~ q_goal = hyq_ref[:]; q_goal[0:7] = tp.q_goal[0:7];
-q_init = hyq_ref[:]; q_init[0:7] = tp.q_init[0:7]; q_init[2]=hyq_ref[2]
-q_goal = hyq_ref[:]; q_goal[0:7] = tp.q_goal[0:7]; q_goal[2]=hyq_ref[2]+0.02
-
q_init = [-2.0,
0.0,
0.6838277139631803,
@@ -96,15 +90,10 @@ q_init = [-2.0,
0.03995660287873871,
-0.9577096766517215,
0.9384602821326071]
+
+q_goal = hyq_ref[:]; q_goal[0:7] = tp.q_goal[0:7]; q_goal[2]=hyq_ref[2]+0.02
-# Randomly generating a contact configuration at q_init
-#~ fullBody.setCurrentConfig (q_init)
-#~ q_init = fullBody.generateContacts(q_init, [0,0,1])
-
-# 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])
@@ -169,90 +158,7 @@ def contactPlan(step = 0.5):
r(configs[i]);
time.sleep(step)
-def contactPlanDontMove(step = 0.5):
- r.client.gui.setVisibility("hyq", "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(0,len(configs)):
- a = configs[i]
- a[:6] = [0 for _ in range(6)]
- a[6] = 1
- #~ r(configs[i]);
- r(a);
- time.sleep(step)
-
-
-def a():
- print "initial configuration"
- initConfig()
-
-def b():
- print "end configuration"
- endConfig()
-def c():
- print "displaying root path"
- rootPath()
-
-def d(step=0.06):
- print "computing contact plan"
- genPlan(step)
-
-def e(step = 0.5):
- print "displaying contact plan"
- contactPlan(step)
-
-def f(step = 0.5):
- print "displaying static contact plan"
- contactPlanDontMove(step)
-
print "Root path generated in " + str(tp.t) + " ms."
-#~ d();e()
-d(0.01);e(0.01)
-#~ d(0.004);e(0.01)
-
-from hpp.corbaserver.rbprm.rbprmstate import *
-
-com = fullBody.getCenterOfMass()
-s = None
-def d1():
- global s
- s = State(fullBody,q = q_init, limbsIncontact = [larmId])
-
- a = s.q()
- a[2]=a[2]+0.01
- s.setQ(a)
- return s.projectToCOM([0.01,0.,0.], maxNumSample = 0)
-
-def d2():
- global s
- s = State(fullBody,q = q_init, limbsIncontact = [larmId, rarmId])
-
- a = s.q()
- a[2]=a[2]+0.05
- a[0]=a[0]+0.05
- s.setQ(a)
- return s.projectToCOM([0.01,0.,0.], maxNumSample = 0)
-
-def d3():
- global s
- s = State(fullBody,q = q_init, limbsIncontact = [rarmId])
-
- a = s.q()
- a[2]=a[2]+0.01
- s.setQ(a)
- return s.projectToCOM([0.01,0.,0.], maxNumSample = 0)
-def d4():
- global s
- s = State(fullBody,q = q_init, limbsIncontact = [rarmId])
-
- a = s.q()
- a[2]=a[2]-0.01
- s.setQ(a)
- print s.projectToCOM([0.01,0.,0.], maxNumSample = 0)
- s = State(fullBody,q = s.q(), limbsIncontact = [larmId])
- return s.projectToCOM([0.01,0.,0.], maxNumSample = 0)
-
-
+genPlan(0.01);contactPlan(0.01)
diff --git a/script/scenarios/run.sh b/script/scenarios/run.sh
deleted file mode 100755
index c249455bcb37f8e2ae1c60795925cc6660ab54f3..0000000000000000000000000000000000000000
--- 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 eab7645220a9bb27f8fee067d65204a90e897868..0000000000000000000000000000000000000000
--- 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 55cabad85a37088ca178f791817a9bdd3e6f3ddb..0000000000000000000000000000000000000000
--- 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%
rename from script/scenarios/demos/siggraph_asia/hrp2_model.py
rename to script/scenarios/sandbox/siggraph_asia/hrp2_model.py
diff --git a/script/scenarios/demos/siggraph_asia/hrp2_model_climb.py b/script/scenarios/sandbox/siggraph_asia/hrp2_model_climb.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/hrp2_model_climb.py
rename to script/scenarios/sandbox/siggraph_asia/hrp2_model_climb.py
diff --git a/script/scenarios/demos/siggraph_asia/hrp2_model_crazy.py b/script/scenarios/sandbox/siggraph_asia/hrp2_model_crazy.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/hrp2_model_crazy.py
rename to script/scenarios/sandbox/siggraph_asia/hrp2_model_crazy.py
diff --git a/script/scenarios/demos/siggraph_asia/hrp2_model_grasp.py b/script/scenarios/sandbox/siggraph_asia/hrp2_model_grasp.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/hrp2_model_grasp.py
rename to script/scenarios/sandbox/siggraph_asia/hrp2_model_grasp.py
diff --git a/script/scenarios/demos/siggraph_asia/hrp2_model_no_arm.py b/script/scenarios/sandbox/siggraph_asia/hrp2_model_no_arm.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/hrp2_model_no_arm.py
rename to script/scenarios/sandbox/siggraph_asia/hrp2_model_no_arm.py
diff --git a/script/scenarios/demos/siggraph_asia/hyq_mountain/19_06_p b/script/scenarios/sandbox/siggraph_asia/hyq_mountain/19_06_p
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/hyq_mountain/19_06_p
rename to script/scenarios/sandbox/siggraph_asia/hyq_mountain/19_06_p
diff --git a/script/scenarios/demos/siggraph_asia/hyq_mountain/19_06_p_save b/script/scenarios/sandbox/siggraph_asia/hyq_mountain/19_06_p_save
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/hyq_mountain/19_06_p_save
rename to script/scenarios/sandbox/siggraph_asia/hyq_mountain/19_06_p_save
diff --git a/script/scenarios/demos/siggraph_asia/hyq_mountain/19_06_p_saveall b/script/scenarios/sandbox/siggraph_asia/hyq_mountain/19_06_p_saveall
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rename from script/scenarios/demos/siggraph_asia/hyq_mountain/19_06_p_saveall
rename to script/scenarios/sandbox/siggraph_asia/hyq_mountain/19_06_p_saveall
diff --git a/script/scenarios/demos/siggraph_asia/hyq_mountain/19_06_pall b/script/scenarios/sandbox/siggraph_asia/hyq_mountain/19_06_pall
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/hyq_mountain/19_06_pall
rename to script/scenarios/sandbox/siggraph_asia/hyq_mountain/19_06_pall
diff --git a/script/scenarios/demos/siggraph_asia/hyq_mountain/19_06_s b/script/scenarios/sandbox/siggraph_asia/hyq_mountain/19_06_s
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rename to script/scenarios/sandbox/siggraph_asia/hyq_mountain/19_06_s
diff --git a/script/scenarios/demos/siggraph_asia/hyq_mountain/19_06_s_save b/script/scenarios/sandbox/siggraph_asia/hyq_mountain/19_06_s_save
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rename to script/scenarios/sandbox/siggraph_asia/hyq_mountain/19_06_s_save
diff --git a/script/scenarios/demos/siggraph_asia/hyq_mountain/19_06_sall b/script/scenarios/sandbox/siggraph_asia/hyq_mountain/19_06_sall
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rename from script/scenarios/demos/siggraph_asia/hyq_mountain/19_06_sall
rename to script/scenarios/sandbox/siggraph_asia/hyq_mountain/19_06_sall
diff --git a/script/scenarios/demos/siggraph_asia/hyq_mountain/bezier_traj.py b/script/scenarios/sandbox/siggraph_asia/hyq_mountain/bezier_traj.py
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diff --git a/script/scenarios/demos/siggraph_asia/scale_hrp2_path_2.py b/script/scenarios/sandbox/siggraph_asia/scale_hrp2_path_2.py
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rename from script/scenarios/demos/siggraph_asia/scale_hrp2_path_2.py
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
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/spiderman/bezier_traj.py
rename to script/scenarios/sandbox/siggraph_asia/spiderman/bezier_traj.py
diff --git a/script/scenarios/demos/siggraph_asia/spiderman/down_spidey_interp.py b/script/scenarios/sandbox/siggraph_asia/spiderman/down_spidey_interp.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/spiderman/down_spidey_interp.py
rename to script/scenarios/sandbox/siggraph_asia/spiderman/down_spidey_interp.py
diff --git a/script/scenarios/demos/siggraph_asia/spiderman/down_spidey_path.py b/script/scenarios/sandbox/siggraph_asia/spiderman/down_spidey_path.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/spiderman/down_spidey_path.py
rename to script/scenarios/sandbox/siggraph_asia/spiderman/down_spidey_path.py
diff --git a/script/scenarios/demos/siggraph_asia/spiderman/plan_execute.py b/script/scenarios/sandbox/siggraph_asia/spiderman/plan_execute.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/spiderman/plan_execute.py
rename to script/scenarios/sandbox/siggraph_asia/spiderman/plan_execute.py
diff --git a/script/scenarios/demos/siggraph_asia/stairs/run.sh b/script/scenarios/sandbox/siggraph_asia/spiderman/run.sh
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/stairs/run.sh
rename to script/scenarios/sandbox/siggraph_asia/spiderman/run.sh
diff --git a/script/scenarios/demos/siggraph_asia/spiderman/rund.sh b/script/scenarios/sandbox/siggraph_asia/spiderman/rund.sh
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rename from script/scenarios/demos/siggraph_asia/spiderman/rund.sh
rename to script/scenarios/sandbox/siggraph_asia/spiderman/rund.sh
diff --git a/script/scenarios/demos/siggraph_asia/spiderman/scale_hrp2_path.py b/script/scenarios/sandbox/siggraph_asia/spiderman/scale_hrp2_path.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/spiderman/scale_hrp2_path.py
rename to script/scenarios/sandbox/siggraph_asia/spiderman/scale_hrp2_path.py
diff --git a/script/scenarios/demos/siggraph_asia/spiderman/scale_spidey_interp.py b/script/scenarios/sandbox/siggraph_asia/spiderman/scale_spidey_interp.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/spiderman/scale_spidey_interp.py
rename to script/scenarios/sandbox/siggraph_asia/spiderman/scale_spidey_interp.py
diff --git a/script/scenarios/demos/siggraph_asia/spiderman/scale_spidey_path.py b/script/scenarios/sandbox/siggraph_asia/spiderman/scale_spidey_path.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/spiderman/scale_spidey_path.py
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
similarity index 100%
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
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/spiderman/spiderman_backJump_path.py
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
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/spiderman/spiderman_compute_DB.py
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
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/stair_bauzil_hrp2_interp.py
rename to script/scenarios/sandbox/siggraph_asia/stair_bauzil_hrp2_interp.py
diff --git a/script/scenarios/demos/siggraph_asia/stair_bauzil_hrp2_interp2.py b/script/scenarios/sandbox/siggraph_asia/stair_bauzil_hrp2_interp2.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/stair_bauzil_hrp2_interp2.py
rename to script/scenarios/sandbox/siggraph_asia/stair_bauzil_hrp2_interp2.py
diff --git a/script/scenarios/demos/siggraph_asia/stair_bauzil_hrp2_interp3.py b/script/scenarios/sandbox/siggraph_asia/stair_bauzil_hrp2_interp3.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/stair_bauzil_hrp2_interp3.py
rename to script/scenarios/sandbox/siggraph_asia/stair_bauzil_hrp2_interp3.py
diff --git a/script/scenarios/demos/siggraph_asia/stair_bauzil_hrp2_path.py b/script/scenarios/sandbox/siggraph_asia/stair_bauzil_hrp2_path.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/stair_bauzil_hrp2_path.py
rename to script/scenarios/sandbox/siggraph_asia/stair_bauzil_hrp2_path.py
diff --git a/script/scenarios/demos/siggraph_asia/stair_bauzil_hrp2_path2.py b/script/scenarios/sandbox/siggraph_asia/stair_bauzil_hrp2_path2.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/stair_bauzil_hrp2_path2.py
rename to script/scenarios/sandbox/siggraph_asia/stair_bauzil_hrp2_path2.py
diff --git a/script/scenarios/demos/siggraph_asia/stair_bauzil_hrp2_path3.py b/script/scenarios/sandbox/siggraph_asia/stair_bauzil_hrp2_path3.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/stair_bauzil_hrp2_path3.py
rename to script/scenarios/sandbox/siggraph_asia/stair_bauzil_hrp2_path3.py
diff --git a/script/scenarios/demos/siggraph_asia/stairs/19_06_p b/script/scenarios/sandbox/siggraph_asia/stairs/19_06_p
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/stairs/19_06_p
rename to script/scenarios/sandbox/siggraph_asia/stairs/19_06_p
diff --git a/script/scenarios/demos/siggraph_asia/stairs/19_06_p_save b/script/scenarios/sandbox/siggraph_asia/stairs/19_06_p_save
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/stairs/19_06_p_save
rename to script/scenarios/sandbox/siggraph_asia/stairs/19_06_p_save
diff --git a/script/scenarios/demos/siggraph_asia/stairs/19_06_p_saveall b/script/scenarios/sandbox/siggraph_asia/stairs/19_06_p_saveall
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/stairs/19_06_p_saveall
rename to script/scenarios/sandbox/siggraph_asia/stairs/19_06_p_saveall
diff --git a/script/scenarios/demos/siggraph_asia/stairs/19_06_pall b/script/scenarios/sandbox/siggraph_asia/stairs/19_06_pall
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/stairs/19_06_pall
rename to script/scenarios/sandbox/siggraph_asia/stairs/19_06_pall
diff --git a/script/scenarios/demos/siggraph_asia/stairs/19_06_s b/script/scenarios/sandbox/siggraph_asia/stairs/19_06_s
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/stairs/19_06_s
rename to script/scenarios/sandbox/siggraph_asia/stairs/19_06_s
diff --git a/script/scenarios/demos/siggraph_asia/stairs/19_06_s_save b/script/scenarios/sandbox/siggraph_asia/stairs/19_06_s_save
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/stairs/19_06_s_save
rename to script/scenarios/sandbox/siggraph_asia/stairs/19_06_s_save
diff --git a/script/scenarios/demos/siggraph_asia/stairs/bezier_traj.py b/script/scenarios/sandbox/siggraph_asia/stairs/bezier_traj.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/stairs/bezier_traj.py
rename to script/scenarios/sandbox/siggraph_asia/stairs/bezier_traj.py
diff --git a/script/scenarios/demos/siggraph_asia/stairs/hrp2_model.py b/script/scenarios/sandbox/siggraph_asia/stairs/hrp2_model.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/stairs/hrp2_model.py
rename to script/scenarios/sandbox/siggraph_asia/stairs/hrp2_model.py
diff --git a/script/scenarios/demos/siggraph_asia/stairs/plan_execute.py b/script/scenarios/sandbox/siggraph_asia/stairs/plan_execute.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/stairs/plan_execute.py
rename to script/scenarios/sandbox/siggraph_asia/stairs/plan_execute.py
diff --git a/script/scenarios/demos/siggraph_asia/twister/run.sh b/script/scenarios/sandbox/siggraph_asia/stairs/run.sh
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/twister/run.sh
rename to script/scenarios/sandbox/siggraph_asia/stairs/run.sh
diff --git a/script/scenarios/demos/siggraph_asia/stairs/rund.sh b/script/scenarios/sandbox/siggraph_asia/stairs/rund.sh
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/stairs/rund.sh
rename to script/scenarios/sandbox/siggraph_asia/stairs/rund.sh
diff --git a/script/scenarios/demos/siggraph_asia/stairs/stair_bauzil_hrp2_interp.py b/script/scenarios/sandbox/siggraph_asia/stairs/stair_bauzil_hrp2_interp.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/stairs/stair_bauzil_hrp2_interp.py
rename to script/scenarios/sandbox/siggraph_asia/stairs/stair_bauzil_hrp2_interp.py
diff --git a/script/scenarios/demos/siggraph_asia/stairs/stair_bauzil_hrp2_path.py b/script/scenarios/sandbox/siggraph_asia/stairs/stair_bauzil_hrp2_path.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/stairs/stair_bauzil_hrp2_path.py
rename to script/scenarios/sandbox/siggraph_asia/stairs/stair_bauzil_hrp2_path.py
diff --git a/script/scenarios/demos/siggraph_asia/stairs/stairs b/script/scenarios/sandbox/siggraph_asia/stairs/stairs
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/stairs/stairs
rename to script/scenarios/sandbox/siggraph_asia/stairs/stairs
diff --git a/script/scenarios/demos/siggraph_asia/twister/16_0 b/script/scenarios/sandbox/siggraph_asia/twister/16_0
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/twister/16_0
rename to script/scenarios/sandbox/siggraph_asia/twister/16_0
diff --git a/script/scenarios/demos/siggraph_asia/twister/16_1 b/script/scenarios/sandbox/siggraph_asia/twister/16_1
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/twister/16_1
rename to script/scenarios/sandbox/siggraph_asia/twister/16_1
diff --git a/script/scenarios/demos/siggraph_asia/twister/19_06_p b/script/scenarios/sandbox/siggraph_asia/twister/19_06_p
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/twister/19_06_p
rename to script/scenarios/sandbox/siggraph_asia/twister/19_06_p
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similarity index 100%
rename from script/scenarios/demos/siggraph_asia/twister/19_06_p_save
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similarity index 100%
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similarity index 100%
rename from script/scenarios/demos/siggraph_asia/twister/19_06_s_save
rename to script/scenarios/sandbox/siggraph_asia/twister/19_06_s_save
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similarity index 100%
rename from script/scenarios/demos/siggraph_asia/twister/19_06_s_to8
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similarity index 100%
rename from script/scenarios/demos/siggraph_asia/twister/19_06_s_to_8
rename to script/scenarios/sandbox/siggraph_asia/twister/19_06_s_to_8
diff --git a/script/scenarios/demos/siggraph_asia/twister/bezier_traj.py b/script/scenarios/sandbox/siggraph_asia/twister/bezier_traj.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/twister/bezier_traj.py
rename to script/scenarios/sandbox/siggraph_asia/twister/bezier_traj.py
diff --git a/script/scenarios/demos/siggraph_asia/twister/crab_model.py b/script/scenarios/sandbox/siggraph_asia/twister/crab_model.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/twister/crab_model.py
rename to script/scenarios/sandbox/siggraph_asia/twister/crab_model.py
diff --git a/script/scenarios/demos/siggraph_asia/twister/hrp2_model.py b/script/scenarios/sandbox/siggraph_asia/twister/hrp2_model.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/twister/hrp2_model.py
rename to script/scenarios/sandbox/siggraph_asia/twister/hrp2_model.py
diff --git a/script/scenarios/demos/siggraph_asia/twister/hyq_model.py b/script/scenarios/sandbox/siggraph_asia/twister/hyq_model.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/twister/hyq_model.py
rename to script/scenarios/sandbox/siggraph_asia/twister/hyq_model.py
diff --git a/script/scenarios/demos/siggraph_asia/twister/path_13 b/script/scenarios/sandbox/siggraph_asia/twister/path_13
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/twister/path_13
rename to script/scenarios/sandbox/siggraph_asia/twister/path_13
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similarity index 100%
rename from script/scenarios/demos/siggraph_asia/twister/path_14
rename to script/scenarios/sandbox/siggraph_asia/twister/path_14
diff --git a/script/scenarios/demos/siggraph_asia/twister/plan_execute.py b/script/scenarios/sandbox/siggraph_asia/twister/plan_execute.py
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/twister/plan_execute.py
rename to script/scenarios/sandbox/siggraph_asia/twister/plan_execute.py
diff --git a/script/scenarios/polaris/run.sh b/script/scenarios/sandbox/siggraph_asia/twister/run.sh
similarity index 100%
rename from script/scenarios/polaris/run.sh
rename to script/scenarios/sandbox/siggraph_asia/twister/run.sh
diff --git a/script/scenarios/demos/siggraph_asia/twister/rund.sh b/script/scenarios/sandbox/siggraph_asia/twister/rund.sh
similarity index 100%
rename from script/scenarios/demos/siggraph_asia/twister/rund.sh
rename to script/scenarios/sandbox/siggraph_asia/twister/rund.sh
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 5bd9255e7ae90d2fba3fd25f409eb48d5ccf58ef..5fcacfe964b8f98ecf215c71a773841faada1a39 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 0cf30faa2fd8e8c626fd3745274dae3f111b863b..3077130d03d2541e1a42c6b3e58be9fba1f9d86c 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)