fix import of display_tools

script/scenarios/demos/hrp2_flatGround.py

 from hpp.corbaserver.rbprm.hrp2 import Robot
 from hpp.gepetto import Viewer
-from tools.display_tools import *
+from hpp.corbaserver.rbprm.tools.display_tools import *
 import time
 print "Plan guide trajectory ..."
 import hrp2_flatGround_path as tp
@@ -33,7 +33,7 @@ fullBody.setCurrentConfig (q_init)
 v(q_ref)
 print "Generate limb DB ..."
 tStart = time.time()
-# generate databases : 
+# generate databases :
 
 nbSamples = 100000
 fullBody.addLimb(fullBody.rLegId,fullBody.rleg,'',fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "fixedStep06", 0.01,limbOffset=fullBody.rLegLimbOffset,kinematicConstraintsPath=fullBody.rLegKinematicConstraints,kinematicConstraintsMin = 0.4)
@@ -52,7 +52,7 @@ tGenerate =  time.time() - tStart
 print "Done."
 print "Databases generated in : "+str(tGenerate)+" s"
 
-#define initial and final configurations : 
+#define initial and final configurations :
 configSize = fullBody.getConfigSize() -fullBody.client.robot.getDimensionExtraConfigSpace()
 
 q_init[0:7] = tp.ps.configAtParam(pId,0.01)[0:7] # use this to get the correct orientation

script/scenarios/demos/hrp2_plateformes.py

 from hpp.corbaserver.rbprm.hrp2 import Robot
 from hpp.gepetto import Viewer
-from tools.display_tools import *
+from hpp.corbaserver.rbprm.tools.display_tools import *
 import time
 print "Plan guide trajectory ..."
 import hrp2_plateformes_path as tp
@@ -34,7 +34,7 @@ fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
 
 print "Generate limb DB ..."
 tStart = time.time()
-# generate databases : 
+# generate databases :
 
 nbSamples = 100000
 fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "fixedStep1", 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints,kinematicConstraintsMin = 0.3)
@@ -47,7 +47,7 @@ tGenerate =  time.time() - tStart
 print "Done."
 print "Databases generated in : "+str(tGenerate)+" s"
 
-#define initial and final configurations : 
+#define initial and final configurations :
 configSize = fullBody.getConfigSize() -fullBody.client.robot.getDimensionExtraConfigSpace()
 
 q_init[0:7] = tp.ps.configAtParam(pId,0.)[0:7] # use this to get the correct orientation

script/scenarios/demos/hyq_slalom_debris.py

 from hpp.corbaserver.rbprm.hyq_contact6D import Robot
 from hpp.gepetto import Viewer
-from tools.display_tools import *
+from hpp.corbaserver.rbprm.tools.display_tools import *
 import time
 print "Plan guide trajectory ..."
 import hyq_slalom_debris_path as tp
@@ -32,7 +32,7 @@ fullBody.setCurrentConfig (q_init)
 
 print "Generate limb DB ..."
 tStart = time.time()
-# generate databases : 
+# generate databases :
 
 nbSamples = 10000
 
@@ -49,7 +49,7 @@ tGenerate =  time.time() - tStart
 print "Done."
 print "Databases generated in : "+str(tGenerate)+" s"
 
-#define initial and final configurations : 
+#define initial and final configurations :
 configSize = fullBody.getConfigSize() -fullBody.client.robot.getDimensionExtraConfigSpace()
 
 q_init[0:7] = tp.ps.configAtParam(pId,0.01)[0:7] # use this to get the correct orientation

script/scenarios/demos/talos_flatGround.py

 from hpp.corbaserver.rbprm.talos import Robot
 from hpp.gepetto import Viewer
-from tools.display_tools import *
+from hpp.corbaserver.rbprm.tools.display_tools import *
 import time
 print "Plan guide trajectory ..."
 import talos_flatGround_path as tp
@@ -31,7 +31,7 @@ fullBody.usePosturalTaskContactCreation(True)
 
 print "Generate limb DB ..."
 tStart = time.time()
-# generate databases : 
+# generate databases :
 
 nbSamples = 50000
 fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "fixedStep06", 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints,kinematicConstraintsMin = 0.75)
@@ -44,7 +44,7 @@ tGenerate =  time.time() - tStart
 print "Done."
 print "Databases generated in : "+str(tGenerate)+" s"
 
-#define initial and final configurations : 
+#define initial and final configurations :
 configSize = fullBody.getConfigSize() -fullBody.client.robot.getDimensionExtraConfigSpace()
 
 q_init[0:7] = tp.ps.configAtParam(pId,0.001)[0:7] # use this to get the correct orientation

script/scenarios/demos/talos_navBauzil.py

 from hpp.corbaserver.rbprm.talos import Robot
 from hpp.gepetto import Viewer
-from tools.display_tools import *
+from hpp.corbaserver.rbprm.tools.display_tools import *
 import time
 print "Plan guide trajectory ..."
 import talos_navBauzil_path as tp
@@ -39,7 +39,7 @@ fullBody.usePosturalTaskContactCreation(True)
 
 print "Generate limb DB ..."
 tStart = time.time()
-# generate databases : 
+# generate databases :
 nbSamples = 10000
 fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "fixedStep06", 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints,kinematicConstraintsMin = 0.85)
 #fullBody.runLimbSampleAnalysis(fullBody.rLegId, "ReferenceConfiguration", True)
@@ -53,7 +53,7 @@ print "Done."
 print "Databases generated in : "+str(tGenerate)+" s"
 
 
-#define initial and final configurations : 
+#define initial and final configurations :
 configSize = fullBody.getConfigSize() -fullBody.client.robot.getDimensionExtraConfigSpace()
 
 q_init[0:7] = tp.ps.configAtParam(pId,0.01)[0:7] # use this to get the correct orientation

script/scenarios/demos/talos_navBauzil_hard.py

 from hpp.corbaserver.rbprm.talos import Robot
 from hpp.gepetto import Viewer
-from tools.display_tools import *
+from hpp.corbaserver.rbprm.tools.display_tools import *
 import time
 print "Plan guide trajectory ..."
 import talos_navBauzil_hard_path as tp
@@ -39,13 +39,13 @@ fullBody.usePosturalTaskContactCreation(True)
 
 print "Generate limb DB ..."
 tStart = time.time()
-# generate databases : 
+# generate databases :
 nbSamples = 10000
 fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "fixedStep06", 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints,kinematicConstraintsMin = 0.85)
 fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.lLegOffset,fullBody.rLegNormal, fullBody.lLegx, fullBody.lLegy, nbSamples, "fixedStep06", 0.01,kinematicConstraintsPath=fullBody.lLegKinematicConstraints,kinematicConstraintsMin = 0.85)
 
 
-#In this scenario, the arms are not used to create contact, but they may move to avoid collision. 
+#In this scenario, the arms are not used to create contact, but they may move to avoid collision.
 fullBody.addNonContactingLimb(fullBody.lArmId,fullBody.larm,fullBody.lhand,5000)
 fullBody.runLimbSampleAnalysis(fullBody.lArmId, "ReferenceConfiguration", True)
 fullBody.addNonContactingLimb(fullBody.rArmId,fullBody.rarm,fullBody.rhand,5000)
@@ -55,7 +55,7 @@ tGenerate =  time.time() - tStart
 print "Done."
 print "Databases generated in : "+str(tGenerate)+" s"
 
-#define initial and final configurations : 
+#define initial and final configurations :
 configSize = fullBody.getConfigSize() -fullBody.client.robot.getDimensionExtraConfigSpace()
 
 q_init[0:7] = tp.ps.configAtParam(pId,0.01)[0:7] # use this to get the correct orientation

script/scenarios/demos/talos_plateformes.py

 from hpp.corbaserver.rbprm.talos import Robot
 from hpp.gepetto import Viewer
-from tools.display_tools import *
+from hpp.corbaserver.rbprm.tools.display_tools import *
 import time
 print "Plan guide trajectory ..."
 import talos_plateformes_path as tp
@@ -34,7 +34,7 @@ fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
 
 print "Generate limb DB ..."
 tStart = time.time()
-# generate databases : 
+# generate databases :
 
 nbSamples = 100000
 fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "fixedStep08", 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints,kinematicConstraintsMin = 0.6)
@@ -47,7 +47,7 @@ tGenerate =  time.time() - tStart
 print "Done."
 print "Databases generated in : "+str(tGenerate)+" s"
 
-#define initial and final configurations : 
+#define initial and final configurations :
 configSize = fullBody.getConfigSize() -fullBody.client.robot.getDimensionExtraConfigSpace()
 
 q_init[0:7] = tp.ps.configAtParam(pId,0.)[0:7] # use this to get the correct orientation

script/scenarios/demos/talos_stairs10.py

 from hpp.corbaserver.rbprm.talos import Robot
 from hpp.gepetto import Viewer
-from tools.display_tools import *
+from hpp.corbaserver.rbprm.tools.display_tools import *
 import time
 print "Plan guide trajectory ..."
 import talos_stairs10_path as tp
@@ -38,7 +38,7 @@ fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
 fullBody.usePosturalTaskContactCreation(True)
 print "Generate limb DB ..."
 tStart = time.time()
-# generate databases : 
+# generate databases :
 nbSamples = 50000
 heuristic="fixedStep06"
 fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, heuristic, 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints,kinematicConstraintsMin = 0.85)
@@ -52,7 +52,7 @@ print "Done."
 print "Databases generated in : "+str(tGenerate)+" s"
 
 
-#define initial and final configurations : 
+#define initial and final configurations :
 configSize = fullBody.getConfigSize() -fullBody.client.robot.getDimensionExtraConfigSpace()
 
 q_init[0:7] = tp.ps.configAtParam(pId,0.01)[0:7] # use this to get the correct orientation

script/scenarios/memmo/anymal_circle.py

 from hpp.corbaserver.rbprm.anymal import Robot
 from hpp.gepetto import Viewer
-from tools.display_tools import *
+from hpp.corbaserver.rbprm.tools.display_tools import *
 import time
 print "Plan guide trajectory ..."
 import anymal_circle_path as tp
@@ -59,7 +59,7 @@ fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
 fullBody.usePosturalTaskContactCreation(True)
 
 """
-if abs(tp.q_goal[1]) <= abs(tp.q_goal[0]) : 
+if abs(tp.q_goal[1]) <= abs(tp.q_goal[0]) :
   heuristicR = "fixedStep08"
   heuristicL = "fixedStep08"
   print "Use weight for straight walk"
@@ -80,7 +80,7 @@ fullBody.setCurrentConfig (q_init)
 
 print "Generate limb DB ..."
 tStart = time.time()
-# generate databases : 
+# generate databases :
 """
 nbSamples = 100000
 fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, heuristicR, 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints,kinematicConstraintsMin = 0.85)
@@ -94,7 +94,7 @@ tGenerate =  time.time() - tStart
 print "Done."
 print "Databases generated in : "+str(tGenerate)+" s"
 
-#define initial and final configurations : 
+#define initial and final configurations :
 configSize = fullBody.getConfigSize() -fullBody.client.robot.getDimensionExtraConfigSpace()
 
 q_init[0:7] = tp.ps.configAtParam(pId,0)[0:7] # use this to get the correct orientation

script/scenarios/memmo/anymal_circle_oriented.py

 from hpp.corbaserver.rbprm.anymal import Robot
 from hpp.gepetto import Viewer
-from tools.display_tools import *
+from hpp.corbaserver.rbprm.tools.display_tools import *
 import time
 print "Plan guide trajectory ..."
 import anymal_circle_oriented_path as tp
@@ -64,7 +64,7 @@ fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
 fullBody.usePosturalTaskContactCreation(True)
 
 """
-if abs(tp.q_goal[1]) <= abs(tp.q_goal[0]) : 
+if abs(tp.q_goal[1]) <= abs(tp.q_goal[0]) :
   heuristicR = "fixedStep08"
   heuristicL = "fixedStep08"
   print "Use weight for straight walk"
@@ -85,7 +85,7 @@ fullBody.setCurrentConfig (q_init)
 
 print "Generate limb DB ..."
 tStart = time.time()
-# generate databases : 
+# generate databases :
 """
 nbSamples = 100000
 fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, heuristicR, 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints,kinematicConstraintsMin = 0.85)
@@ -99,7 +99,7 @@ tGenerate =  time.time() - tStart
 print "Done."
 print "Databases generated in : "+str(tGenerate)+" s"
 
-#define initial and final configurations : 
+#define initial and final configurations :
 configSize = fullBody.getConfigSize() -fullBody.client.robot.getDimensionExtraConfigSpace()
 
 q_init[0:7] = tp.ps.configAtParam(pId,0)[0:7] # use this to get the correct orientation

script/scenarios/memmo/anymal_platform_random.py

 from hpp.corbaserver.rbprm.anymal import Robot
 from hpp.gepetto import Viewer
-from tools.display_tools import *
+from hpp.corbaserver.rbprm.tools.display_tools import *
 import time
 print "Plan guide trajectory ..."
 import scenarios.memmo.anymal_platform_random_path as tp
@@ -64,7 +64,7 @@ fullBody.setCurrentConfig (q_init)
 
 print "Generate limb DB ..."
 tStart = time.time()
-# generate databases : 
+# generate databases :
 
 fullBody.loadAllLimbs("static","ReferenceConfiguration",nbSamples=100000)
 
@@ -73,7 +73,7 @@ tGenerate =  time.time() - tStart
 print "Done."
 print "Databases generated in : "+str(tGenerate)+" s"
 
-#define initial and final configurations : 
+#define initial and final configurations :
 configSize = fullBody.getConfigSize() -fullBody.client.robot.getDimensionExtraConfigSpace()
 
 q_init[0:7] = tp.ps.configAtParam(pId,0)[0:7] # use this to get the correct orientation

script/scenarios/memmo/talos_circle.py

 from hpp.corbaserver.rbprm.talos import Robot
 from hpp.gepetto import Viewer
-from tools.display_tools import *
+from hpp.corbaserver.rbprm.tools.display_tools import *
 import time
 print "Plan guide trajectory ..."
 import talos_circle_path as tp
@@ -62,7 +62,7 @@ q_init = q_ref[::]
 fullBody.setReferenceConfig(q_ref)
 
 
-if abs(tp.q_goal[1]) <= abs(tp.q_goal[0]) : 
+if abs(tp.q_goal[1]) <= abs(tp.q_goal[0]) :
   fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
   heuristicR = "fixedStep08"
   heuristicL = "fixedStep08"
@@ -85,7 +85,7 @@ fullBody.setCurrentConfig (q_init)
 
 print "Generate limb DB ..."
 tStart = time.time()
-# generate databases : 
+# generate databases :
 
 nbSamples = 100000
 fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, heuristicR, 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints,kinematicConstraintsMin = 0.85)
@@ -98,7 +98,7 @@ tGenerate =  time.time() - tStart
 print "Done."
 print "Databases generated in : "+str(tGenerate)+" s"
 
-#define initial and final configurations : 
+#define initial and final configurations :
 configSize = fullBody.getConfigSize() -fullBody.client.robot.getDimensionExtraConfigSpace()
 
 q_init[0:7] = tp.ps.configAtParam(pId,0)[0:7] # use this to get the correct orientation

script/scenarios/memmo/talos_circle_oriented.py

 from hpp.corbaserver.rbprm.talos import Robot
 from hpp.gepetto import Viewer
-from tools.display_tools import *
+from hpp.corbaserver.rbprm.tools.display_tools import *
 import numpy as np
 import time
 print "Plan guide trajectory ..."
@@ -80,7 +80,7 @@ fullBody.setCurrentConfig (q_init)
 
 print "Generate limb DB ..."
 tStart = time.time()
-# generate databases : 
+# generate databases :
 
 nbSamples = 100000
 fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, heuristicR, 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints,kinematicConstraintsMin = 0.85)
@@ -95,10 +95,10 @@ tGenerate =  time.time() - tStart
 print "Done."
 print "Databases generated in : "+str(tGenerate)+" s"
 
-#define initial and final configurations : 
+#define initial and final configurations :
 configSize = fullBody.getConfigSize() -fullBody.client.robot.getDimensionExtraConfigSpace()
 
-q_init[0:7] = tp.ps.configAtParam(pId,0)[0:7] 
+q_init[0:7] = tp.ps.configAtParam(pId,0)[0:7]
 q_goal = q_init[::]; q_goal[0:7] = tp.ps.configAtParam(pId,tp.ps.pathLength(pId))[0:7]
 vel_init = [0,0,0]
 acc_init = [0,0,0]

script/scenarios/memmo/talos_moveEffector_flat.py

 from hpp.corbaserver.rbprm.talos import Robot
 from hpp.gepetto import Viewer
-from tools.display_tools import *
+from hpp.corbaserver.rbprm.tools.display_tools import *
 from hpp.gepetto import ViewerFactory
 from hpp.corbaserver import ProblemSolver
 import os
@@ -22,7 +22,7 @@ fullBody.setJointBounds('leg_left_6_joint',[-0.25,0.25])
 fullBody.setJointBounds('leg_left_2_joint',[-0.25,0.25])
 fullBody.setJointBounds('leg_right_6_joint',[-0.25,0.25])
 fullBody.setJointBounds('leg_right_2_joint',[-0.25,0.25])
-# constraint z axis and y axis : 
+# constraint z axis and y axis :
 joint1L_bounds_prev=fullBody.getJointBounds('leg_left_1_joint')
 joint3L_bounds_prev=fullBody.getJointBounds('leg_left_3_joint')
 joint1R_bounds_prev=fullBody.getJointBounds('leg_right_1_joint')
@@ -70,7 +70,7 @@ fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
 
 print "Generate limb DB ..."
 tStart = time.time()
-# generate databases : 
+# generate databases :
 
 nbSamples = 10
 fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "static", 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints,kinematicConstraintsMin = 0.7)

script/scenarios/memmo/talos_moveEffector_stairs_m10.py

 from hpp.corbaserver.rbprm.talos import Robot
 from hpp.gepetto import Viewer
-from tools.display_tools import *
+from hpp.corbaserver.rbprm.tools.display_tools import *
 from hpp.gepetto import ViewerFactory
 from hpp.corbaserver import ProblemSolver
 import os
@@ -22,7 +22,7 @@ fullBody.setJointBounds('leg_left_6_joint',[-0.25,0.25])
 fullBody.setJointBounds('leg_left_2_joint',[-0.25,0.25])
 fullBody.setJointBounds('leg_right_6_joint',[-0.25,0.25])
 fullBody.setJointBounds('leg_right_2_joint',[-0.25,0.25])
-# constraint z axis and y axis : 
+# constraint z axis and y axis :
 joint1L_bounds_prev=fullBody.getJointBounds('leg_left_1_joint')
 joint3L_bounds_prev=fullBody.getJointBounds('leg_left_3_joint')
 joint1R_bounds_prev=fullBody.getJointBounds('leg_right_1_joint')
@@ -70,7 +70,7 @@ fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
 
 print "Generate limb DB ..."
 tStart = time.time()
-# generate databases : 
+# generate databases :
 
 nbSamples = 10
 fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "static", 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints,kinematicConstraintsMin = 0.75)

script/scenarios/memmo/talos_moveEffector_stairs_m15.py

 from hpp.corbaserver.rbprm.talos import Robot
 from hpp.gepetto import Viewer
-from tools.display_tools import *
+from hpp.corbaserver.rbprm.tools.display_tools import *
 from hpp.gepetto import ViewerFactory
 from hpp.corbaserver import ProblemSolver
 import os
@@ -22,7 +22,7 @@ fullBody.setJointBounds('leg_left_6_joint',[-0.25,0.25])
 fullBody.setJointBounds('leg_left_2_joint',[-0.25,0.25])
 fullBody.setJointBounds('leg_right_6_joint',[-0.25,0.25])
 fullBody.setJointBounds('leg_right_2_joint',[-0.25,0.25])
-# constraint z axis and y axis : 
+# constraint z axis and y axis :
 joint1L_bounds_prev=fullBody.getJointBounds('leg_left_1_joint')
 joint3L_bounds_prev=fullBody.getJointBounds('leg_left_3_joint')
 joint1R_bounds_prev=fullBody.getJointBounds('leg_right_1_joint')
@@ -70,7 +70,7 @@ fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
 
 print "Generate limb DB ..."
 tStart = time.time()
-# generate databases : 
+# generate databases :
 
 nbSamples = 10
 fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "static", 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints,kinematicConstraintsMin = 0.75)

script/scenarios/memmo/talos_moveEffector_stairs_p10.py

 from hpp.corbaserver.rbprm.talos import Robot
 from hpp.gepetto import Viewer
-from tools.display_tools import *
+from hpp.corbaserver.rbprm.tools.display_tools import *
 from hpp.gepetto import ViewerFactory
 from hpp.corbaserver import ProblemSolver
 import os
@@ -22,7 +22,7 @@ fullBody.setJointBounds('leg_left_6_joint',[-0.25,0.25])
 fullBody.setJointBounds('leg_left_2_joint',[-0.25,0.25])
 fullBody.setJointBounds('leg_right_6_joint',[-0.25,0.25])
 fullBody.setJointBounds('leg_right_2_joint',[-0.25,0.25])
-# constraint z axis and y axis : 
+# constraint z axis and y axis :
 joint1L_bounds_prev=fullBody.getJointBounds('leg_left_1_joint')
 joint3L_bounds_prev=fullBody.getJointBounds('leg_left_3_joint')
 joint1R_bounds_prev=fullBody.getJointBounds('leg_right_1_joint')
@@ -70,7 +70,7 @@ fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
 
 print "Generate limb DB ..."
 tStart = time.time()
-# generate databases : 
+# generate databases :
 
 nbSamples = 10
 fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "static", 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints,kinematicConstraintsMin = 0.75)

script/scenarios/memmo/talos_moveEffector_stairs_p15.py

 from hpp.corbaserver.rbprm.talos import Robot
 from hpp.gepetto import Viewer
-from tools.display_tools import *
+from hpp.corbaserver.rbprm.tools.display_tools import *
 from hpp.gepetto import ViewerFactory
 from hpp.corbaserver import ProblemSolver
 import os
@@ -22,7 +22,7 @@ fullBody.setJointBounds('leg_left_6_joint',[-0.25,0.25])
 fullBody.setJointBounds('leg_left_2_joint',[-0.25,0.25])
 fullBody.setJointBounds('leg_right_6_joint',[-0.25,0.25])
 fullBody.setJointBounds('leg_right_2_joint',[-0.25,0.25])
-# constraint z axis and y axis : 
+# constraint z axis and y axis :
 joint1L_bounds_prev=fullBody.getJointBounds('leg_left_1_joint')
 joint3L_bounds_prev=fullBody.getJointBounds('leg_left_3_joint')
 joint1R_bounds_prev=fullBody.getJointBounds('leg_right_1_joint')
@@ -70,7 +70,7 @@ fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
 
 print "Generate limb DB ..."
 tStart = time.time()
-# generate databases : 
+# generate databases :
 
 nbSamples = 10
 fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "static", 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints,kinematicConstraintsMin = 0.75)

script/scenarios/memmo/talos_platform.py

 from hpp.corbaserver.rbprm.talos import Robot
 from hpp.gepetto import Viewer
-from tools.display_tools import *
+from hpp.corbaserver.rbprm.tools.display_tools import *
 import time
 print "Plan guide trajectory ..."
 import talos_platform_path as tp
@@ -58,7 +58,7 @@ q_init = q_ref[::]
 fullBody.setReferenceConfig(q_ref)
 
 """
-if abs(tp.q_goal[1]) <= abs(tp.q_goal[0]) : 
+if abs(tp.q_goal[1]) <= abs(tp.q_goal[0]) :
   fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
   heuristicR = "fixedStep08"
   heuristicL = "fixedStep08"
@@ -81,7 +81,7 @@ fullBody.setCurrentConfig (q_init)
 
 print "Generate limb DB ..."
 tStart = time.time()
-# generate databases : 
+# generate databases :
 
 nbSamples = 100000
 fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "fixedStep06", 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints,kinematicConstraintsMin = 0.85)
@@ -94,7 +94,7 @@ tGenerate =  time.time() - tStart
 print "Done."
 print "Databases generated in : "+str(tGenerate)+" s"
 
-#define initial and final configurations : 
+#define initial and final configurations :
 configSize = fullBody.getConfigSize() -fullBody.client.robot.getDimensionExtraConfigSpace()
 
 q_init[0:7] = tp.ps.configAtParam(pId,0)[0:7] # use this to get the correct orientation

script/scenarios/memmo/talos_platform_random.py

 from hpp.corbaserver.rbprm.talos import Robot
 from hpp.gepetto import Viewer
-from tools.display_tools import *
+from hpp.corbaserver.rbprm.tools.display_tools import *
 import time
 print "Plan guide trajectory ..."
 import scenarios.memmo.talos_platform_random_path as tp
@@ -65,7 +65,7 @@ fullBody.setCurrentConfig (q_init)
 
 print "Generate limb DB ..."
 tStart = time.time()
-# generate databases : 
+# generate databases :
 
 nbSamples = 100000
 fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "fixedStep08", 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints,kinematicConstraintsMin = 0.8)
@@ -78,7 +78,7 @@ tGenerate =  time.time() - tStart
 print "Done."
 print "Databases generated in : "+str(tGenerate)+" s"
 
-#define initial and final configurations : 
+#define initial and final configurations :
 configSize = fullBody.getConfigSize() -fullBody.client.robot.getDimensionExtraConfigSpace()
 
 q_init[0:7] = tp.ps.configAtParam(pId,0)[0:7] # use this to get the correct orientation
@@ -105,7 +105,7 @@ q_init[2]=q_ref[2]
 q_goal[2]=q_ref[2]
 
 
-# define init gait according to the direction of motion, try to move first the leg on the outside of the turn : 
+# define init gait according to the direction of motion, try to move first the leg on the outside of the turn :
 if q_goal[0] > q_init[0] : #go toward x positif
   if q_goal[1] > q_init[1]: # turn left
     gait = [fullBody.rLegId,fullBody.lLegId]