Refactor python3 : fix relative imports

script/scenarios/sandbox/siggraph_asia/darpa_hyq.py

@@ -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

script/scenarios/sandbox/siggraph_asia/down_hrp2_interp.py

@@ -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
 

script/scenarios/sandbox/siggraph_asia/down_hrp2_interp_comp.py

@@ -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
 

script/scenarios/sandbox/siggraph_asia/grasp_hrp2_interp.py

@@ -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

script/scenarios/sandbox/siggraph_asia/grasp_hrp2_interp_comp.py

@@ -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
 

script/scenarios/sandbox/siggraph_asia/mount_hyq.py

@@ -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

script/scenarios/sandbox/siggraph_asia/plane_hole_hrp2_interp.py

@@ -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
 

script/scenarios/sandbox/siggraph_asia/plane_hrp2_interp.py

@@ -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
 

script/scenarios/sandbox/siggraph_asia/plane_hrp2_interp_acc.py

@@ -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
 
 

script/scenarios/sandbox/siggraph_asia/scale_hrp2_interp.py

@@ -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

script/scenarios/sandbox/siggraph_asia/scale_hrp2_interp_2.py

@@ -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

script/scenarios/sandbox/siggraph_asia/scale_hrp2_interp_comp.py

@@ -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
 

script/scenarios/sandbox/siggraph_asia/stair_bauzil_hrp2_interp.py

@@ -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

script/scenarios/sandbox/siggraph_asia/stair_bauzil_hrp2_interp2.py

@@ -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
 
 

script/scenarios/sandbox/siggraph_asia/stair_bauzil_hrp2_interp3.py

@@ -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
 
 

script/scenarios/sandbox/siggraph_asia/wall_hrp2_interp.py

@@ -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
 

script/scenarios/sandbox/siggraph_asia/wall_spidey_interp.py

@@ -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)

script/scenarios/sandbox/stair_bauzil_hrp2_interp.py

 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):

script/tools/admissibleComPositionsFromEffector.py

@@ -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"

script/tools/admissibleComPositionsFromEffectorHyQ.py

@@ -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"