Remove simulation member and replace simu by device in AbstractRobot class.

src/dynamic_graph/sot/dynamics/humanoid_robot.py

@@ -58,10 +58,6 @@ class AbstractHumanoidRobot (object):
     name = None
     """Entity name (internal use)"""
 
-    #FIXME: it should be some kind of global flag instead.
-    simulation = False
-    """Are we in simulation or not?"""
-
     halfSitting = None
     """
     The half-sitting position is the robot initial pose.
@@ -155,12 +151,12 @@ class AbstractHumanoidRobot (object):
         if not self.dynamic:
             raise "robots models have to be initialized first"
 
-        if self.simulation:
-            self.simu = RobotSimu(self.name + '.simu')
+        if not self.device:
+            self.device = RobotSimu(self.name + '.device')
             # Freeflyer reference frame should be the same as global
             # frame so that operational point positions correspond to
             # position in freeflyer frame.
-            self.simu.set(self.halfSitting)
+            self.device.set(self.halfSitting)
 
         self.dynamic.position.value = self.halfSitting
         self.dynamic.velocity.value = self.dimension*(0.,)
@@ -203,7 +199,7 @@ class AbstractHumanoidRobot (object):
             setattr(self, memberName, self.features[op])
 
 
-    def __init__(self, name, simulation):
+    def __init__(self, name):
         self.name = name
         if simulation:
             self.simulation = True
@@ -227,11 +223,10 @@ class HumanoidRobot(AbstractHumanoidRobot):
     halfSitting = [] #FIXME
 
     name = None
-    simulation = None
     filename = None
 
-    def __init__(self, name, simulation, filename):
-        AbstractHumanoidRobot.__init__(self, name, simulation)
+    def __init__(self, name, filename):
+        AbstractHumanoidRobot.__init__(self, name)
         self.filename = filename
         self.dynamic = \
             self.loadModelFromKxml (self.name + '.dynamics', self.filename)

unitTesting/python/dynamic_walk.py

@@ -90,8 +90,8 @@ solver.sot.push(robot.name + '.task.com')
 dynamicWalking = DynamicWalking(robot)
 
 for i in xrange(100):
-    robot.simu.increment(timeStep)
+    robot.device.increment(timeStep)
 
     if clt:
         clt.updateElementConfig(
-            'hrp', robot.smallToFull(robot.simu.state.value))
+            'hrp', robot.smallToFull(robot.device.state.value))

unitTesting/python/feet_follower.py

@@ -44,11 +44,11 @@ solver.sot.push(robot.name + '.task.com')
 # Main.
 #  Main loop
 for i in xrange(500):
-    robot.simu.increment(timeStep)
+    robot.device.increment(timeStep)
 
     if clt:
         clt.updateElementConfig(
-            'hrp', robot.smallToFull(robot.simu.state.value))
+            'hrp', robot.smallToFull(robot.device.state.value))
 
 
 finalPosition = (
@@ -64,5 +64,5 @@ finalPosition = (
      0.23896800000000001, 0.21485599999999999, -0.18973400000000001,
      -0.49457699999999999, 0.040646799999999997, 0.16970299999999999, 0.100067)
 
-checkFinalConfiguration(robot.simu.state.value, finalPosition)
+checkFinalConfiguration(robot.device.state.value, finalPosition)
 print "Exiting."

unitTesting/python/quasistatic_walking.py

@@ -180,13 +180,13 @@ totalSteps = int((stepTime / timeStep) * steps)
 t = 0
 for i in xrange(totalSteps + 1):
     t += timeStep
-    robot.simu.increment(timeStep)
+    robot.device.increment(timeStep)
 
     quasiStaticWalking.update(t)
 
     if clt:
         clt.updateElementConfig(
-            'hrp', robot.smallToFull(robot.simu.state.value))
+            'hrp', robot.smallToFull(robot.device.state.value))
 
 #  Security: switch back to double support.
 quasiStaticWalking.moveCoM('origin')
@@ -194,11 +194,11 @@ duration = quasiStaticWalking.time[quasiStaticWalking.stateCoM_singleToDouble]
 
 for i in xrange(int(duration / timeStep)):
     t += timeStep
-    robot.simu.increment(timeStep)
+    robot.device.increment(timeStep)
 
     if clt:
         clt.updateElementConfig(
-            'hrp', robot.smallToFull(robot.simu.state.value))
+            'hrp', robot.smallToFull(robot.device.state.value))
 
 finalPosition = (
     -0.0082169200000000008, -0.0126068, -0.00022860999999999999,
@@ -213,5 +213,5 @@ finalPosition = (
      0.26377400000000001, 0.171155, -0.00065098499999999998,
      -0.52324700000000002, -1.23291e-05, 6.0469500000000001e-05, 0.100009)
 
-checkFinalConfiguration(robot.simu.state.value, finalPosition)
+checkFinalConfiguration(robot.device.state.value, finalPosition)
 print "Exiting."

unitTesting/python/reach_both_hands.py

@@ -35,11 +35,11 @@ solver.sot.push(robot.name + '.task.com')
 # Main.
 #  Main loop
 for i in xrange(500):
-    robot.simu.increment(timeStep)
+    robot.device.increment(timeStep)
 
     if clt:
         clt.updateElementConfig(
-            'hrp', robot.smallToFull(robot.simu.state.value))
+            'hrp', robot.smallToFull(robot.device.state.value))
 
 finalPosition = (
     -0.0357296, -0.0024092699999999998, 0.033870600000000001,
@@ -55,5 +55,5 @@ finalPosition = (
      -0.109959, -0.60156299999999996, -0.082422700000000002,
      1.0207200000000001, 0.10037500000000001)
 
-checkFinalConfiguration(robot.simu.state.value, finalPosition)
+checkFinalConfiguration(robot.device.state.value, finalPosition)
 print "Exiting."

unitTesting/python/reach_left_hand.py

@@ -34,11 +34,11 @@ solver.sot.push(robot.name + '.task.com')
 # Main.
 #  Main loop
 for i in xrange(500):
-    robot.simu.increment(timeStep)
+    robot.device.increment(timeStep)
 
     if clt:
         clt.updateElementConfig(
-            'hrp', robot.smallToFull(robot.simu.state.value))
+            'hrp', robot.smallToFull(robot.device.state.value))
 
 finalPosition = (
     -0.015183500000000001, -0.00037148200000000002, -0.00065935600000000005,
@@ -53,5 +53,5 @@ finalPosition = (
      0.170987, 0.100064, -0.117492, 0.24870200000000001, 0.016264399999999998,
      -0.56795700000000005, 0.0040012399999999997, 0.18956200000000001, 0.100089)
 
-checkFinalConfiguration(robot.simu.state.value, finalPosition)
+checkFinalConfiguration(robot.device.state.value, finalPosition)
 print "Exiting."

unitTesting/python/reach_right_hand.py

@@ -33,11 +33,11 @@ solver.sot.push(robot.name + '.task.com')
 # Main.
 #  Main loop
 for i in xrange(500):
-    robot.simu.increment(timeStep)
+    robot.device.increment(timeStep)
 
     if clt:
         clt.updateElementConfig(
-            'hrp', robot.smallToFull(robot.simu.state.value))
+            'hrp', robot.smallToFull(robot.device.state.value))
 
 
 finalPosition = (
@@ -53,5 +53,5 @@ finalPosition = (
      0.23896800000000001, 0.21485599999999999, -0.18973400000000001,
      -0.49457699999999999, 0.040646799999999997, 0.16970299999999999, 0.100067)
 
-checkFinalConfiguration(robot.simu.state.value, finalPosition)
+checkFinalConfiguration(robot.device.state.value, finalPosition)
 print "Exiting."

unitTesting/python/tools.py

@@ -154,9 +154,9 @@ class Solver:
         self.sot.signal('damping').value = 1e-6
         self.sot.setNumberDofs(self.robot.dimension)
 
-        if robot.simu:
-            plug(self.sot.signal('control'), robot.simu.signal('control'))
-            plug(self.robot.simu.state,
+        if robot.device:
+            plug(self.sot.signal('control'), robot.device.signal('control'))
+            plug(self.robot.device.state,
                  self.robot.dynamic.position)