Commit c8e717ed authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

Refactor python3 : fix relative imports

parent 6b48f744
......@@ -4,10 +4,10 @@ from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
from hpp.gepetto import Viewer
#reference pose for hyq
from hyq_ref_pose import hyq_ref
from .hyq_ref_pose import hyq_ref
#calling script darpa_hyq_path to compute root path
import darpa_hyq_path as tp
from . import darpa_hyq_path as tp
from os import environ
ins_dir = environ['DEVEL_DIR']
......@@ -204,7 +204,7 @@ d(0.1);e(0.01)
qs = configs
fb = fullBody
ttp = tp
from bezier_traj import *
from .bezier_traj import *
init_bezier_traj(fb, r, pp, qs, limbsCOMConstraints)
#~ AFTER loading obstacles
configs = qs
......
......@@ -3,9 +3,9 @@ from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from hpp.gepetto import Viewer
from hpp.gepetto import PathPlayer
import down_hrp2_path as path_planner
import hrp2_model_grasp as model
from hrp2_model import *
from . import down_hrp2_path as path_planner
from . import hrp2_model_grasp as model
from .hrp2_model import *
import time
......@@ -15,7 +15,7 @@ fullBody = model.fullBody
fullBody.setJointBounds ("base_joint_xyz", [-3,3, -2, 2, 0, 1])
pp = PathPlayer (fullBody.client.basic, r)
from plan_execute import a, b, c, d, e, init_plan_execute
from .plan_execute import a, b, c, d, e, init_plan_execute
init_plan_execute(model.fullBody, r, path_planner, pp)
q_0 = fullBody.getCurrentConfig();
......@@ -46,7 +46,7 @@ fullBody.setEndState(q_goal,[rLegId,lLegId])#,rarmId,larmId])
configs = d(0.005,filt=True); e()
from bezier_traj import *
from .bezier_traj import *
init_bezier_traj(model.fullBody, r, pp, configs, model.limbsCOMConstraints)
#~ AFTER loading obstacles
......
......@@ -3,9 +3,9 @@ from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from hpp.gepetto import Viewer
from hpp.gepetto import PathPlayer
import down_hrp2_path as path_planner
import hrp2_model_grasp as model
from hrp2_model import *
from . import down_hrp2_path as path_planner
from . import hrp2_model_grasp as model
from .hrp2_model import *
import time
......@@ -15,7 +15,7 @@ fullBody = model.fullBody
fullBody.setJointBounds ("base_joint_xyz", [-3,3, -2, 2, 0, 1])
pp = PathPlayer (fullBody.client.basic, r)
from plan_execute import a, b, c, d, e, init_plan_execute
from .plan_execute import a, b, c, d, e, init_plan_execute
init_plan_execute(model.fullBody, r, path_planner, pp)
q_0 = fullBody.getCurrentConfig();
......@@ -45,7 +45,7 @@ fullBody.setEndState(q_goal,[rLegId,lLegId])#,rarmId,larmId])
configs = d(0.005); e()
from bezier_traj import *
from .bezier_traj import *
init_bezier_traj(model.fullBody, r, pp, configs, model.limbsCOMConstraints)
#~ AFTER loading obstacles
......
......@@ -2,7 +2,7 @@ from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from hpp.gepetto import Viewer
import grasp_hrp2_path as tp
from . import grasp_hrp2_path as tp
import time
path_planner = tp
......@@ -208,7 +208,7 @@ print("Root path SDDSD in " + str(tp.t) + " ms.")
qs = configs
fb = fullBody
ttp = path_planner
from bezier_traj import *
from .bezier_traj import *
init_bezier_traj(fb, r, pp, qs, limbsCOMConstraints)
#~ AFTER loading obstacles
configs = qs
......
......@@ -3,9 +3,9 @@ from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from hpp.gepetto import Viewer
from hpp.gepetto import PathPlayer
import grasp_hrp2_path as path_planner
import hrp2_model_grasp as model
from hrp2_model import *
from . import grasp_hrp2_path as path_planner
from . import hrp2_model_grasp as model
from .hrp2_model import *
import time
......@@ -15,7 +15,7 @@ fullBody = model.fullBody
fullBody.setJointBounds ("base_joint_xyz", [-3,3, -2, 2, 0, 1])
pp = PathPlayer (fullBody.client.basic, r)
from plan_execute import a, b, c, d, e, init_plan_execute
from .plan_execute import a, b, c, d, e, init_plan_execute
init_plan_execute(model.fullBody, r, path_planner, pp)
q_0 = fullBody.getCurrentConfig();
......@@ -44,7 +44,7 @@ fullBody.setEndState(q_goal,[rLegId,lLegId])#,rarmId,larmId])
configs = d(0.01); e(0.01)
from bezier_traj import *
from .bezier_traj import *
init_bezier_traj(model.fullBody, r, pp, configs, model.limbsCOMConstraints)
#~ AFTER loading obstacles
......
......@@ -4,10 +4,10 @@ from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
from hpp.gepetto import Viewer
#reference pose for hyq
from hyq_ref_pose import hyq_ref
from .hyq_ref_pose import hyq_ref
#calling script darpa_hyq_path to compute root path
import mount_hyq_path as tp
from . import mount_hyq_path as tp
from os import environ
ins_dir = environ['DEVEL_DIR']
......@@ -204,7 +204,7 @@ d(0.07);e(0.01)
qs = configs
fb = fullBody
ttp = tp
from bezier_traj import *
from .bezier_traj import *
init_bezier_traj(fb, r, pp, qs, limbsCOMConstraints)
#~ AFTER loading obstacles
configs = qs
......
......@@ -3,10 +3,10 @@ from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from hpp.gepetto import Viewer
from hpp.gepetto import PathPlayer
import plane_hole_hrp2_path as path_planner
from . import plane_hole_hrp2_path as path_planner
#~ import hrp2_model as model
import hrp2_model_no_arm as model
from hrp2_model import *
from . import hrp2_model_no_arm as model
from .hrp2_model import *
import time
......@@ -16,7 +16,7 @@ fullBody = model.fullBody
fullBody.setJointBounds ("base_joint_xyz", [-0.135,20, -1, 1, 0, 2.2])
pp = PathPlayer (fullBody.client.basic, r)
from plan_execute import a, b, c, d, e, init_plan_execute
from .plan_execute import a, b, c, d, e, init_plan_execute
init_plan_execute(model.fullBody, r, path_planner, pp)
q_0 = model.fullBody.getCurrentConfig();
......@@ -47,7 +47,7 @@ fullBody.setEndState(q_goal,[rLegId,lLegId])#,rarmId,larmId])
configs = d(0.01); e(0.01)
from bezier_traj import *
from .bezier_traj import *
init_bezier_traj(model.fullBody, r, pp, configs, model.limbsCOMConstraints)
#~ AFTER loading obstacles
......
......@@ -3,9 +3,9 @@ from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from hpp.gepetto import Viewer
from hpp.gepetto import PathPlayer
import plane_hrp2_path as path_planner
import hrp2_model as model
from hrp2_model import *
from . import plane_hrp2_path as path_planner
from . import hrp2_model as model
from .hrp2_model import *
import time
......@@ -15,7 +15,7 @@ fullBody = model.fullBody
fullBody.setJointBounds ("base_joint_xyz", [-0.135,2, -1, 1, 0, 2.2])
pp = PathPlayer (fullBody.client.basic, r)
from plan_execute import a, b, c, d, e, init_plan_execute
from .plan_execute import a, b, c, d, e, init_plan_execute
init_plan_execute(model.fullBody, r, path_planner, pp)
q_0 = model.fullBody.getCurrentConfig();
......@@ -46,7 +46,7 @@ fullBody.setEndState(q_goal,[rLegId,lLegId])#,rarmId,larmId])
configs = d(0.05); e(0.01)
from bezier_traj import *
from .bezier_traj import *
init_bezier_traj(model.fullBody, r, pp, configs, model.limbsCOMConstraints)
#~ AFTER loading obstacles
......
......@@ -2,7 +2,7 @@ from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from hpp.gepetto import Viewer
import plane_hrp2_path as tp
from . import plane_hrp2_path as tp
import time
......
......@@ -3,10 +3,10 @@ from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from hpp.gepetto import Viewer
from hpp.gepetto import PathPlayer
import scale_hrp2_path as path_planner
import hrp2_model as model
from . import scale_hrp2_path as path_planner
from . import hrp2_model as model
#~ import hrp2_model_grasp as model
from hrp2_model import *
from .hrp2_model import *
import time
......@@ -17,7 +17,7 @@ fullBody = model.fullBody
fullBody.setJointBounds ("base_joint_xyz", [-1,3, -1, 1, 0, 6])
pp = PathPlayer (fullBody.client.basic, r)
from plan_execute import a, b, c, d, e, init_plan_execute
from .plan_execute import a, b, c, d, e, init_plan_execute
init_plan_execute(model.fullBody, r, path_planner, pp)
q_0 = fullBody.getCurrentConfig();
......@@ -49,7 +49,7 @@ configs = d(0.05); e()
qs = configs
fb = fullBody
ttp = path_planner
from bezier_traj import *
from .bezier_traj import *
init_bezier_traj(fb, r, pp, qs, limbsCOMConstraints)
#~ AFTER loading obstacles
configs = qs
......
......@@ -3,10 +3,10 @@ from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from hpp.gepetto import Viewer
from hpp.gepetto import PathPlayer
import scale_hrp2_path_2 as path_planner
import hrp2_model as model
from . import scale_hrp2_path_2 as path_planner
from . import hrp2_model as model
#~ import hrp2_model_grasp as model
from hrp2_model import *
from .hrp2_model import *
import time
......@@ -17,7 +17,7 @@ fullBody = model.fullBody
fullBody.setJointBounds ("base_joint_xyz", [-1,3, -1, 1, 0, 6])
pp = PathPlayer (fullBody.client.basic, r)
from plan_execute import a, b, c, d, e, init_plan_execute
from .plan_execute import a, b, c, d, e, init_plan_execute
init_plan_execute(model.fullBody, r, path_planner, pp)
q_0 = fullBody.getCurrentConfig();
......@@ -55,7 +55,7 @@ configs = d(0.005); e()
qs = configs
fb = fullBody
ttp = path_planner
from bezier_traj import *
from .bezier_traj import *
init_bezier_traj(fb, r, pp, qs, limbsCOMConstraints)
#~ AFTER loading obstacles
configs = qs
......
......@@ -3,10 +3,10 @@ from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from hpp.gepetto import Viewer
from hpp.gepetto import PathPlayer
import scale_hrp2_path as path_planner
from . import scale_hrp2_path as path_planner
#~ import hrp2_model as model
import hrp2_model_grasp as model
from hrp2_model import *
from . import hrp2_model_grasp as model
from .hrp2_model import *
import time
......@@ -17,7 +17,7 @@ fullBody = model.fullBody
fullBody.setJointBounds ("base_joint_xyz", [-1,3, -1, 1, 0, 6])
pp = PathPlayer (fullBody.client.basic, r)
from plan_execute import a, b, c, d, e, init_plan_execute
from .plan_execute import a, b, c, d, e, init_plan_execute
init_plan_execute(model.fullBody, r, path_planner, pp)
q_0 = fullBody.getCurrentConfig();
......@@ -46,7 +46,7 @@ fullBody.setEndState(q_goal,[rLegId,lLegId])#,rarmId,larmId])
configs = d(0.005); e()
from bezier_traj import *
from .bezier_traj import *
init_bezier_traj(model.fullBody, r, pp, configs, model.limbsCOMConstraints)
#~ AFTER loading obstacles
......
......@@ -2,7 +2,7 @@ from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from hpp.gepetto import Viewer
import stair_bauzil_hrp2_path as tp
from . import stair_bauzil_hrp2_path as tp
import time
......@@ -224,7 +224,7 @@ print("Root path generated in " + str(tp.t) + " ms.")
qs = configs
fb = fullBody
ttp = tp
from bezier_traj import *
from .bezier_traj import *
init_bezier_traj(fb, r, pp, qs, limbsCOMConstraints)
#~ AFTER loading obstacles
configs = qs
......
......@@ -2,7 +2,7 @@ from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from hpp.gepetto import Viewer
import stair_bauzil_hrp2_path2 as tp
from . import stair_bauzil_hrp2_path2 as tp
import time
......
......@@ -2,7 +2,7 @@ from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from hpp.gepetto import Viewer
import stair_bauzil_hrp2_path3 as tp
from . import stair_bauzil_hrp2_path3 as tp
import time
......
......@@ -3,9 +3,9 @@ from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from hpp.gepetto import Viewer
from hpp.gepetto import PathPlayer
import wall_hrp2_path as path_planner
import hrp2_model_climb as model
from hrp2_model_climb import *
from . import wall_hrp2_path as path_planner
from . import hrp2_model_climb as model
from .hrp2_model_climb import *
import time
......@@ -16,7 +16,7 @@ fullBody = model.fullBody
fullBody.setJointBounds ("base_joint_xyz", [-1,3, -1, 1, 0, 6])
pp = PathPlayer (fullBody.client.basic, r)
from plan_execute import a, b, c, d, e, init_plan_execute
from .plan_execute import a, b, c, d, e, init_plan_execute
init_plan_execute(model.fullBody, r, path_planner, pp)
q_0 = fullBody.getCurrentConfig();
......@@ -46,7 +46,7 @@ fullBody.setEndState(q_goal,[rLegId,lLegId])#,rarmId,larmId])
configs = d(0.005); e()
from bezier_traj import *
from .bezier_traj import *
init_bezier_traj(model.fullBody, r, pp, configs, model.limbsCOMConstraints)
#~ AFTER loading obstacles
......
......@@ -3,7 +3,7 @@ from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from hpp.gepetto import Viewer
from hpp.gepetto import PathPlayer
import wall_spiderman_path as path_planner
from . import wall_spiderman_path as path_planner
#~ import hrp2_model as model
import time
tp = path_planner
......@@ -61,7 +61,7 @@ r = path_planner.Viewer (ps, viewerClient=path_planner.r.client)
fullBody.setJointBounds ("base_joint_xyz", [-1,3, -1, 1, 0, 6])
pp = PathPlayer (fullBody.client.basic, r)
from plan_execute import a, b, c, d, e, init_plan_execute
from .plan_execute import a, b, c, d, e, init_plan_execute
init_plan_execute(fullBody, r, path_planner, pp)
q_0 = fullBody.getCurrentConfig();
......@@ -77,5 +77,5 @@ fullBody.setEndState(q_goal,[rLegId,lLegId])#,rarmId,larmId])
configs = d(0.005); e()
from bezier_traj import *
from .bezier_traj import *
init_bezier_traj(fullBody, r, pp, configs, limbsCOMConstraints)
from hpp.corbaserver.rbprm.hrp2 import Robot
from hpp.gepetto import Viewer
import stair_bauzil_hrp2_path as tp
from . import stair_bauzil_hrp2_path as tp
import time
......@@ -226,7 +226,7 @@ def d3():
return s.projectToCOM([0.01,0.,0.], maxNumSample = 0)
from hpp.corbaserver.rbprm.state_alg import addNewContact, isContactReachable, closestTransform, removeContact, addNewContactIfReachable, projectToFeasibleCom
from geom import *
from .geom import *
def dist(q0,q1):
......
......@@ -3,7 +3,7 @@ from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from hpp.gepetto import Viewer
import quaternion as quat
from . import quaternion as quat
packageName = "hrp2_14_description"
meshPackageName = "hrp2_14_description"
......
......@@ -2,7 +2,7 @@
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from hpp.gepetto import Viewer
import quaternion as quat
from . import quaternion as quat
packageName = "hyq_description"
meshPackageName = "hyq_description"
......
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