Merge pull request #61 from pFernbach/devel

Major refactoring of scripts organization

cmake @ 7eca9ee6

-Subproject commit 2de34adfce816937d2403cb602261ade0c26f0cd
+Subproject commit 7eca9ee6c9d1c4ee20eb82272e94f9d11642053a

script/scenarios/sandbox/ANYmal/anymal_flatGround.py → script/ANYmal/anymal_flatGround.py

@@ -2,9 +2,9 @@ from hpp.corbaserver.rbprm.anymal import Robot
 from hpp.gepetto import Viewer
 from hpp.corbaserver.rbprm.tools.display_tools import *
 import time
-print "Plan guide trajectory ..."
+print("Plan guide trajectory ...")
 import anymal_flatGround_path as tp
-print "Done."
+print("Done.")
 import time
 
 
@@ -39,14 +39,14 @@ fullBody.setCurrentConfig (q_init)
 fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
 #fullBody.usePosturalTaskContactCreation(True)
 
-print "Generate limb DB ..."
+print("Generate limb DB ...")
 tStart = time.time()
 dict_heuristic = {fullBody.rLegId:"fixedStep04", fullBody.lLegId:"fixedStep04", fullBody.rArmId:"static", fullBody.lArmId:"static"}
 #fullBody.loadAllLimbs("static","ReferenceConfiguration",nbSamples=50000,disableEffectorCollision=False)
 fullBody.loadAllLimbs(dict_heuristic,"ReferenceConfiguration",nbSamples=100000,disableEffectorCollision=False)
 tGenerate =  time.time() - tStart
-print "Done."
-print "Databases generated in : "+str(tGenerate)+" s"
+print("Done.")
+print("Databases generated in : "+str(tGenerate)+" s")
 fullBody.setReferenceConfig(q_ref)
 
 #define initial and final configurations :
@@ -84,13 +84,13 @@ v(q_goal)
 v.addLandmark('anymal/base',0.3)
 
 
-print "Generate contact plan ..."
+print("Generate contact plan ...")
 tStart = time.time()
 configs = fullBody.interpolate(0.001,pathId=pId,robustnessTreshold = robTreshold, filterStates = True,testReachability=True,quasiStatic=True)
 tInterpolateConfigs = time.time() - tStart
-print "Done."
-print "Contact plan generated in : "+str(tInterpolateConfigs)+" s"
-print "number of configs :", len(configs)
+print("Done.")
+print("Contact plan generated in : "+str(tInterpolateConfigs)+" s")
+print("number of configs :", len(configs))
 #raw_input("Press Enter to display the contact sequence ...")
 #displayContactSequence(v,configs)
 

script/scenarios/sandbox/ANYmal/anymal_flatGround_path.py → script/ANYmal/anymal_flatGround_path.py

@@ -84,7 +84,7 @@ ps.selectPathPlanner("DynamicPlanner")
 
 # Solve the planning problem :
 t = ps.solve ()
-print "Guide planning time : ",t
+print("Guide planning time : ",t)
 
 
 # display solution : 

script/scenarios/sandbox/ANYmal/anymal_modular_palet_flat.py → script/ANYmal/anymal_modular_palet_flat.py

@@ -2,7 +2,7 @@ from hpp.corbaserver.rbprm.anymal import Robot
 from hpp.gepetto import Viewer
 from tools.display_tools import *
 import time
-print "Plan guide trajectory ..."
+print("Plan guide trajectory ...")
 import scenarios.sandbox.ANYmal.anymal_modular_palet_flat_path as tp
 
 #Robot.urdfSuffix += "_safeFeet"
@@ -10,11 +10,11 @@ statusFilename = tp.statusFilename
 pId = tp.pid
 f = open(statusFilename,"a")
 if tp.ps.numberPaths() > 0 :
-  print "Path planning OK."
+  print("Path planning OK.")
   f.write("Planning_success: True"+"\n")
   f.close()
 else :
-  print "Error during path planning"
+  print("Error during path planning")
   f.write("Planning_success: False"+"\n")
   f.close()
   import sys
@@ -45,7 +45,7 @@ ps.setParameter("FullBody/frictionCoefficient",tp.mu)
 try :
     v = tp.Viewer (ps,viewerClient=tp.v.client, displayCoM = True)
 except Exception:
-    print "No viewer started !"
+    print("No viewer started !")
     class FakeViewer():
         def __init__(self):
             return
@@ -65,14 +65,14 @@ fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
 
 fullBody.setCurrentConfig (q_init)
 
-print "Generate limb DB ..."
+print("Generate limb DB ...")
 tStart = time.time()
 # generate databases : 
 
 fullBody.loadAllLimbs("static","ReferenceConfiguration",nbSamples=100000,disableEffectorCollision=False)
 tGenerate =  time.time() - tStart
-print "Done."
-print "Databases generated in : "+str(tGenerate)+" s"
+print("Done.")
+print("Databases generated in : "+str(tGenerate)+" s")
 v.addLandmark('anymal/base_0',0.2)
 
 #define initial and final configurations : 
@@ -108,27 +108,27 @@ fullBody.setCurrentConfig (q_goal)
 v(q_goal)
 
 
-print "Generate contact plan ..."
+print("Generate contact plan ...")
 tStart = time.time()
 configs = fullBody.interpolate(0.001,pathId=pId,robustnessTreshold = robTreshold, filterStates = True,testReachability=True,quasiStatic=True)
 tInterpolateConfigs = time.time() - tStart
-print "Done."
-print "Contact plan generated in : "+str(tInterpolateConfigs)+" s"
-print "number of configs :", len(configs)
+print("Done.")
+print("Contact plan generated in : "+str(tInterpolateConfigs)+" s")
+print("number of configs :", len(configs))
 #raw_input("Press Enter to display the contact sequence ...")
 #displayContactSequence(v,configs)
 
 if len(configs) < 2 :
   cg_success = False
-  print "Error during contact generation."
+  print("Error during contact generation.")
 else:
   cg_success = True
-  print "Contact generation Done."
+  print("Contact generation Done.")
 if abs(configs[-1][0] - tp.q_goal[0]) < 0.01 and abs(configs[-1][1]- tp.q_goal[1]) < 0.01  and (len(fullBody.getContactsVariations(len(configs)-2,len(configs)-1))==1):
-  print "Contact generation successful."
+  print("Contact generation successful.")
   cg_reach_goal = True
 else:
-  print "Contact generation failed to reach the goal."
+  print("Contact generation failed to reach the goal.")
   cg_reach_goal = False
 
 f = open(statusFilename,"a")

script/scenarios/sandbox/ANYmal/anymal_modular_palet_flat_path.py → script/ANYmal/anymal_modular_palet_flat_path.py

@@ -69,7 +69,7 @@ afftool.loadObstacleModel ("hpp_environments", "ori/modular_palet_flat", "planni
 try :
     v = vf.createViewer(displayArrows = True)
 except Exception:
-    print "No viewer started !"
+    print("No viewer started !")
     class FakeViewer():
         def __init__(self):
             return
@@ -110,7 +110,7 @@ ps.addGoalConfig (q_goal)
 
 # Solve the planning problem :
 t = ps.solve()
-print "Guide planning done in "+str(t)
+print("Guide planning done in "+str(t))
 
 pidBegin = ps.numberPaths()-1
 
@@ -124,7 +124,7 @@ ps.addGoalConfig (q_goal)
 
 # Solve the planning problem :
 t = ps.solve()
-print "Guide planning done in "+str(t)
+print("Guide planning done in "+str(t))
 
 pidMiddle = ps.numberPaths()-1
 
@@ -140,7 +140,7 @@ ps.addGoalConfig (q_goal)
 
 # Solve the planning problem :
 t = ps.solve()
-print "Guide planning done in "+str(t)
+print("Guide planning done in "+str(t))
 
 pidLast = ps.numberPaths()-1
 

script/scenarios/sandbox/ANYmal/anymal_modular_palet_low.py → script/ANYmal/anymal_modular_palet_low.py

@@ -2,7 +2,7 @@ from hpp.corbaserver.rbprm.anymal import Robot
 from hpp.gepetto import Viewer
 from hpp.corbaserver.rbprm.tools.display_tools import *
 import time
-print "Plan guide trajectory ..."
+print("Plan guide trajectory ...")
 import scenarios.sandbox.ANYmal.anymal_modular_palet_low_obstacles_path as tp
 
 #Robot.urdfSuffix += "_safeFeet"
@@ -10,11 +10,11 @@ statusFilename = tp.statusFilename
 pId = tp.pid
 f = open(statusFilename,"a")
 if tp.ps.numberPaths() > 0 :
-  print "Path planning OK."
+  print("Path planning OK.")
   f.write("Planning_success: True"+"\n")
   f.close()
 else :
-  print "Error during path planning"
+  print("Error during path planning")
   f.write("Planning_success: False"+"\n")
   f.close()
   import sys
@@ -45,7 +45,7 @@ ps.setParameter("FullBody/frictionCoefficient",tp.mu)
 try :
     v = tp.Viewer (ps,viewerClient=tp.v.client, displayCoM = True)
 except Exception:
-    print "No viewer started !"
+    print("No viewer started !")
     class FakeViewer():
         def __init__(self):
             return
@@ -65,14 +65,14 @@ fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
 
 fullBody.setCurrentConfig (q_init)
 
-print "Generate limb DB ..."
+print("Generate limb DB ...")
 tStart = time.time()
 # generate databases :
 
 fullBody.loadAllLimbs("static","ReferenceConfiguration",nbSamples=100000,disableEffectorCollision=False)
 tGenerate =  time.time() - tStart
-print "Done."
-print "Databases generated in : "+str(tGenerate)+" s"
+print("Done.")
+print("Databases generated in : "+str(tGenerate)+" s")
 v.addLandmark('anymal/base_0',0.2)
 
 #define initial and final configurations :
@@ -107,27 +107,27 @@ fullBody.setCurrentConfig (q_goal)
 v(q_goal)
 
 
-print "Generate contact plan ..."
+print("Generate contact plan ...")
 tStart = time.time()
 configs = fullBody.interpolate(0.001,pathId=pId,robustnessTreshold = robTreshold, filterStates = True,testReachability=True,quasiStatic=True)
 tInterpolateConfigs = time.time() - tStart
-print "Done."
-print "Contact plan generated in : "+str(tInterpolateConfigs)+" s"
-print "number of configs :", len(configs)
+print("Done.")
+print("Contact plan generated in : "+str(tInterpolateConfigs)+" s")
+print("number of configs :", len(configs))
 #raw_input("Press Enter to display the contact sequence ...")
 #displayContactSequence(v,configs)
 
 if len(configs) < 2 :
   cg_success = False
-  print "Error during contact generation."
+  print("Error during contact generation.")
 else:
   cg_success = True
-  print "Contact generation Done."
+  print("Contact generation Done.")
 if abs(configs[-1][0] - tp.q_goal[0]) < 0.01 and abs(configs[-1][1]- tp.q_goal[1]) < 0.01  and (len(fullBody.getContactsVariations(len(configs)-2,len(configs)-1))==1):
-  print "Contact generation successful."
+  print("Contact generation successful.")
   cg_reach_goal = True
 else:
-  print "Contact generation failed to reach the goal."
+  print("Contact generation failed to reach the goal.")
   cg_reach_goal = False
 
 f = open(statusFilename,"a")

script/scenarios/sandbox/ANYmal/anymal_modular_palet_low_obstacles_path.py → script/ANYmal/anymal_modular_palet_low_obstacles_path.py

@@ -69,7 +69,7 @@ afftool.loadObstacleModel ("hpp_environments", "ori/modular_palet_low_obstacles"
 try :
     v = vf.createViewer(displayArrows = True)
 except Exception:
-    print "No viewer started !"
+    print("No viewer started !")
     class FakeViewer():
         def __init__(self):
             return
@@ -110,7 +110,7 @@ ps.addGoalConfig (q_goal)
 
 # Solve the planning problem :
 t = ps.solve()
-print "Guide planning done in "+str(t)
+print("Guide planning done in "+str(t))
 
 pidBegin = ps.numberPaths()-1
 
@@ -126,7 +126,7 @@ ps.addGoalConfig (q_goal)
 rbprmBuilder.setJointBounds ("root_joint", [q_init[0],q_goal[0],-0.2,0.2,q_init[2],q_init[2]])
 # Solve the planning problem :
 t = ps.solve()
-print "Guide planning done in "+str(t)
+print("Guide planning done in "+str(t))
 #v.solveAndDisplay('rm',2,0.001)
 pidMiddle = ps.numberPaths()-1
 rbprmBuilder.setJointBounds ("root_joint", rootBounds)
@@ -144,7 +144,7 @@ ps.addGoalConfig (q_goal)
 
 # Solve the planning problem :
 t = ps.solve()
-print "Guide planning done in "+str(t)
+print("Guide planning done in "+str(t))
 
 pidLast = ps.numberPaths()-1
 

script/scenarios/sandbox/ANYmal/anymal_modular_palet_low_path.py → script/ANYmal/anymal_modular_palet_low_path.py

@@ -69,7 +69,7 @@ afftool.loadObstacleModel ("hpp_environments", "ori/modular_palet_low_collision"
 try :
     v = vf.createViewer(displayArrows = True)
 except Exception:
-    print "No viewer started !"
+    print("No viewer started !")
     class FakeViewer():
         def __init__(self):
             return
@@ -110,7 +110,7 @@ ps.addGoalConfig (q_goal)
 
 # Solve the planning problem :
 t = ps.solve()
-print "Guide planning done in "+str(t)
+print("Guide planning done in "+str(t))
 
 pidBegin = ps.numberPaths()-1
 
@@ -124,7 +124,7 @@ ps.addGoalConfig (q_goal)
 
 # Solve the planning problem :
 t = ps.solve()
-print "Guide planning done in "+str(t)
+print("Guide planning done in "+str(t))
 
 pidMiddle = ps.numberPaths()-1
 
@@ -140,7 +140,7 @@ ps.addGoalConfig (q_goal)
 
 # Solve the planning problem :
 t = ps.solve()
-print "Guide planning done in "+str(t)
+print("Guide planning done in "+str(t))
 
 pidLast = ps.numberPaths()-1
 

script/scenarios/sandbox/ANYmal/anymal_plinth.py → script/ANYmal/anymal_plinth.py

@@ -2,9 +2,9 @@ from hpp.corbaserver.rbprm.anymal import Robot
 from hpp.gepetto import Viewer
 from hpp.corbaserver.rbprm.tools.display_tools import *
 import time
-print "Plan guide trajectory ..."
+print("Plan guide trajectory ...")
 import anymal_plinth_path as tp
-print "Done."
+print("Done.")
 import time
 
 
@@ -43,12 +43,12 @@ fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
 fullBody.usePosturalTaskContactCreation(True)
 
 dict_heuristic = {fullBody.rLegId:"static", fullBody.lLegId:"static", fullBody.rArmId:"fixedStep04", fullBody.lArmId:"fixedStep04"}
-print "Generate limb DB ..."
+print("Generate limb DB ...")
 tStart = time.time()
 fullBody.loadAllLimbs(dict_heuristic,"ReferenceConfiguration",nbSamples=50000)
 tGenerate =  time.time() - tStart
-print "Done."
-print "Databases generated in : "+str(tGenerate)+" s"
+print("Done.")
+print("Databases generated in : "+str(tGenerate)+" s")
 fullBody.setReferenceConfig(q_ref)
 
 #define initial and final configurations :
@@ -86,13 +86,13 @@ fullBody.setStartState(q_init,fullBody.limbs_names)
 fullBody.setEndState(q_goal,fullBody.limbs_names)
 
 
-print "Generate contact plan ..."
+print("Generate contact plan ...")
 tStart = time.time()
 configs = fullBody.interpolate(0.002,pathId=pId,robustnessTreshold = robTreshold, filterStates = True,testReachability=True,quasiStatic=True)
 tInterpolateConfigs = time.time() - tStart
-print "Done. "
-print "Contact sequence computed in "+str(tInterpolateConfigs)+" s."
-print "number of configs :", len(configs)
+print("Done. ")
+print("Contact sequence computed in "+str(tInterpolateConfigs)+" s.")
+print("number of configs :", len(configs))
 #raw_input("Press Enter to display the contact sequence ...")
 #displayContactSequence(v,configs)
 

script/scenarios/sandbox/ANYmal/anymal_plinth_path.py → script/ANYmal/anymal_plinth_path.py

@@ -87,7 +87,7 @@ ps.selectPathPlanner("DynamicPlanner")
 
 # Solve the planning problem :
 t = ps.solve ()
-print "Guide planning time : ",t
+print("Guide planning time : ",t)
 #v.solveAndDisplay('rm',2,radiusSphere=0.01)
 
 

script/scenarios/sandbox/ANYmal/anymal_slalom1.py → script/ANYmal/anymal_slalom1.py

@@ -2,9 +2,9 @@ from hpp.corbaserver.rbprm.anymal import Robot
 from hpp.gepetto import Viewer
 from tools.display_tools import *
 import time
-print "Plan guide trajectory ..."
+print("Plan guide trajectory ...")
 import anymal_slalom1_path as tp
-print "Done."
+print("Done.")
 import time
 
 
@@ -39,14 +39,14 @@ fullBody.setCurrentConfig (q_init)
 fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
 #fullBody.usePosturalTaskContactCreation(True)
 
-print "Generate limb DB ..."
+print("Generate limb DB ...")
 tStart = time.time()
 #dict_heuristic = {fullBody.rLegId:"fixedStep04", fullBody.lLegId:"fixedStep04", fullBody.rArmId:"static", fullBody.lArmId:"static"}
 fullBody.loadAllLimbs("static","ReferenceConfiguration",nbSamples=100000,disableEffectorCollision=False)
 #fullBody.loadAllLimbs(dict_heuristic,"ReferenceConfiguration",nbSamples=100000,disableEffectorCollision=False)
 tGenerate =  time.time() - tStart
-print "Done."
-print "Databases generated in : "+str(tGenerate)+" s"
+print("Done.")
+print("Databases generated in : "+str(tGenerate)+" s")
 fullBody.setReferenceConfig(q_ref)
 
 #define initial and final configurations : 
@@ -84,13 +84,13 @@ v(q_goal)
 v.addLandmark('anymal/base',0.3)
 
 
-print "Generate contact plan ..."
+print("Generate contact plan ...")
 tStart = time.time()
 configs = fullBody.interpolate(0.001,pathId=pId,robustnessTreshold = robTreshold, filterStates = True,testReachability=True,quasiStatic=True)
 tInterpolateConfigs = time.time() - tStart
-print "Done."
-print "Contact plan generated in : "+str(tInterpolateConfigs)+" s"
-print "number of configs :", len(configs)
+print("Done.")
+print("Contact plan generated in : "+str(tInterpolateConfigs)+" s")
+print("number of configs :", len(configs))
 #raw_input("Press Enter to display the contact sequence ...")
 #displayContactSequence(v,configs)
 

script/scenarios/sandbox/ANYmal/anymal_slalom1_path.py → script/ANYmal/anymal_slalom1_path.py

@@ -83,11 +83,11 @@ ps.addPathOptimizer ("RandomShortcutDynamic")
 #ps.addPathOptimizer ("RandomShortcut")
 # Solve the planning problem :
 t = ps.solve ()
-print "Guide planning time : ",t
+print("Guide planning time : ",t)
 pid = ps.numberPaths()-1
 
 for i in range(5):
-    print "Optimization pass ",i
+    print("Optimization pass ",i)
     ps.optimizePath(pid)
     pid = ps.numberPaths()-1
 

script/scenarios/sandbox/ANYmal/anymal_slalom2.py → script/ANYmal/anymal_slalom2.py

@@ -2,9 +2,9 @@ from hpp.corbaserver.rbprm.anymal import Robot
 from hpp.gepetto import Viewer
 from tools.display_tools import *
 import time
-print "Plan guide trajectory ..."
+print("Plan guide trajectory ...")
 import anymal_slalom2_path as tp
-print "Done."
+print("Done.")
 import time
 
 
@@ -39,14 +39,14 @@ fullBody.setCurrentConfig (q_init)
 fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
 #fullBody.usePosturalTaskContactCreation(True)
 
-print "Generate limb DB ..."
+print("Generate limb DB ...")
 tStart = time.time()
 #dict_heuristic = {fullBody.rLegId:"fixedStep04", fullBody.lLegId:"fixedStep04", fullBody.rArmId:"static", fullBody.lArmId:"static"}
 fullBody.loadAllLimbs("static","ReferenceConfiguration",nbSamples=100000,disableEffectorCollision=False)
 #fullBody.loadAllLimbs(dict_heuristic,"ReferenceConfiguration",nbSamples=100000,disableEffectorCollision=False)
 tGenerate =  time.time() - tStart
-print "Done."
-print "Databases generated in : "+str(tGenerate)+" s"
+print("Done.")
+print("Databases generated in : "+str(tGenerate)+" s")
 fullBody.setReferenceConfig(q_ref)
 
 #define initial and final configurations : 
@@ -84,13 +84,13 @@ v(q_goal)
 v.addLandmark('anymal/base',0.3)
 
 
-print "Generate contact plan ..."
+print("Generate contact plan ...")
 tStart = time.time()
 configs = fullBody.interpolate(0.001,pathId=pId,robustnessTreshold = robTreshold, filterStates = True,testReachability=True,quasiStatic=True)
 tInterpolateConfigs = time.time() - tStart
-print "Done."
-print "Contact plan generated in : "+str(tInterpolateConfigs)+" s"
-print "number of configs :", len(configs)
+print("Done.")
+print("Contact plan generated in : "+str(tInterpolateConfigs)+" s")
+print("number of configs :", len(configs))
 #raw_input("Press Enter to display the contact sequence ...")
 #displayContactSequence(v,configs)
 

script/scenarios/sandbox/ANYmal/anymal_slalom2_path.py → script/ANYmal/anymal_slalom2_path.py

@@ -85,13 +85,13 @@ ps.addPathOptimizer ("RandomShortcutDynamic")
 #ps.addPathOptimizer ("RandomShortcut")
 # Solve the planning problem :
 t = ps.solve ()
-print "Guide planning time : ",t
+print("Guide planning time : ",t)
 #v.solveAndDisplay('rm',2,0.001)
 #v.client.gui.removeFromGroup("rm",v.sceneName)
 pid = ps.numberPaths()-1
 
 for i in range(5):
-    print "Optimization pass ",i
+    print("Optimization pass ",i)
     ps.optimizePath(pid)
     pid = ps.numberPaths()-1
 

script/scenarios/sandbox/ANYmal/anymal_slalom_debris.py → script/ANYmal/anymal_slalom_debris.py

@@ -2,9 +2,9 @@ from hpp.corbaserver.rbprm.anymal import Robot
 from hpp.gepetto import Viewer
 from hpp.corbaserver.rbprm.tools.display_tools import *
 import time
-print "Plan guide trajectory ..."
+print("Plan guide trajectory ...")
 import anymal_slalom_debris_path as tp
-print "Done."
+print("Done.")
 import time
 
 
@@ -38,12 +38,12 @@ fullBody.setCurrentConfig (q_init)
 fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
 #fullBody.usePosturalTaskContactCreation(True)
 
-print "Generate limb DB ..."
+print("Generate limb DB ...")
 tStart = time.time()
 fullBody.loadAllLimbs("fixedStep04","ReferenceConfiguration")
 tGenerate =  time.time() - tStart
-print "Done."
-print "Databases generated in : "+str(tGenerate)+" s"
+print("Done.")
+print("Databases generated in : "+str(tGenerate)+" s")
 fullBody.setReferenceConfig(q_ref)
 
 #define initial and final configurations :
@@ -81,13 +81,13 @@ fullBody.setStartState(q_init,fullBody.limbs_names, [[0.,0.,1.] for _ in range(4
 fullBody.setEndState(q_goal,fullBody.limbs_names, [[0.,0.,1.] for _ in range(4)])
 
 
-print "Generate contact plan ..."
+print("Generate contact plan ...")
 tStart = time.time()
 configs = fullBody.interpolate(0.002,pathId=pId,robustnessTreshold = robTreshold, filterStates = True,testReachability=True,quasiStatic=True)
 tInterpolateConfigs = time.time() - tStart
-print "Done. "
-print "Contact sequence computed in "+str(tInterpolateConfigs)+" s."
-print "number of configs :", len(configs)
+print("Done. ")
+print("Contact sequence computed in "+str(tInterpolateConfigs)+" s.")
+print("number of configs :", len(configs))
 
 
 fullBody.resetJointsBounds()

script/scenarios/sandbox/ANYmal/anymal_slalom_debris_path.py → script/ANYmal/anymal_slalom_debris_path.py

@@ -53,7 +53,7 @@ vf = ViewerFactory (ps)
 from hpp.corbaserver.affordance.affordance import AffordanceTool
 afftool = AffordanceTool ()
 afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005])
-afftool.loadObstacleModel ("hpp_environments", "multicontact/slalom_debris", "planning", vf,reduceSizes=[0.1,0,0])
+afftool.loadObstacleModel ("hpp_environments", "multicontact/slalom_debris", "planning", vf)
 v = vf.createViewer(displayArrows = True)
 #afftool.visualiseAffordances('Support', v, v.color.lightBrown)
 #v.addLandmark(v.sceneName,1)
@@ -86,7 +86,7 @@ ps.selectPathPlanner("DynamicPlanner")
 # Solve the planning problem :
 t = ps.solve ()
 #v.solveAndDisplay('rm',2,radiusSphere=0.01)
-print "Guide planning time : ",t
+print("Guide planning time : ",t)
 
 
 # display solution : 

script/scenarios/sandbox/ANYmal/darpa.py → script/ANYmal/darpa.py

@@ -2,9 +2,9 @@ from hpp.corbaserver.rbprm.anymal_contact6D import Robot
 from hpp.gepetto import Viewer
 from hpp.corbaserver.rbprm.tools.display_tools import *
 import time
-print "Plan guide trajectory ..."
+print("Plan guide trajectory ...")