[refactor] renaming : hpp-wholebody-motion -> multicontact-locomotion-planning (mlp)

scripts/hpp_wholebody_motion/centroidal/croc.py → scripts/mlp/centroidal/croc.py

 import numpy as np
-import hpp_wholebody_motion.config as cfg
+import mlp.config as cfg
 import locomote 
 from locomote import WrenchCone,SOC6,ContactPatch, ContactPhaseHumanoid, ContactSequenceHumanoid
 from hpp_spline import bezier

scripts/hpp_wholebody_motion/centroidal/geometric.py → scripts/mlp/centroidal/geometric.py

 import numpy as np
-import hpp_wholebody_motion.config as cfg
+import mlp.config as cfg
 import locomote
 from locomote import WrenchCone,SOC6,ContactPatch, ContactPhaseHumanoid, ContactSequenceHumanoid
 

scripts/hpp_wholebody_motion/centroidal/topt.py → scripts/mlp/centroidal/topt.py

@@ -5,9 +5,9 @@ import timeopt
 import locomote
 from locomote import WrenchCone,SOC6,ContactPatch, ContactPhaseHumanoid, ContactSequenceHumanoid
 import time
-import hpp_wholebody_motion.config as cfg
-import hpp_wholebody_motion.viewer.display_tools as display
-from hpp_wholebody_motion.utils.util import *
+import mlp.config as cfg
+import mlp.viewer.display_tools as display
+from mlp.utils.util import *
 
 CONTACT_ANKLE_LEVEL = True # probably only required for hrp2, as the center of the feet is not the center of the flexibility ...
 

scripts/hpp_wholebody_motion/config.py → scripts/mlp/config.py

 ## PATHS settings : 
 import numpy as np
 import os
-PKG_PATH = os.environ['DEVEL_HPP_DIR']+"/src/hpp-wholebody-motion"
+PKG_PATH = os.environ['DEVEL_HPP_DIR']+"/src/multicontact-locomotion-planning"
 OUTPUT_DIR = PKG_PATH+"/res"
 CONTACT_SEQUENCE_PATH = OUTPUT_DIR + "/contact_sequences"
 TIME_OPT_CONFIG_PATH = PKG_PATH +'/timeOpt_configs'
@@ -11,7 +11,7 @@ SAVE_CS = not LOAD_CS and True
 SAVE_CS_COM = not LOAD_CS_COM and True
 EXPORT_GAZEBO = False
 EXPORT_OPENHRP = True
-openHRP_useZMPref = False
+openHRP_useZMPref = True
 EXPORT_PATH = OUTPUT_DIR+"/export"
 
 ##DISPLAY settings : 
@@ -68,14 +68,14 @@ IK_store_contact_forces = True
 import importlib
 import sys
 if len(sys.argv)<2 : 
-    print "You must call this script with the name of the config file (one of the file contained in hpp_wholebody_motion.demo_config)"
+    print "You must call this script with the name of the config file (one of the file contained in mlp.demo_config)"
     print "Available demo files : "
-    configs_path = PKG_PATH+"/scripts/hpp_wholebody_motion/demo_configs"
+    configs_path = PKG_PATH+"/scripts/mlp/demo_configs"
     demos_list = os.listdir(configs_path)
     for f in demos_list:
         if f.endswith(".py") and not f.startswith("__") : 
             print f.rstrip(".py")
-    raise IOError("You must call this script with the name of the config file (one of the file contained in hpp_wholebody_motion.demo_config)")
+    raise IOError("You must call this script with the name of the config file (one of the file contained in mlp.demo_config)")
     
 import argparse
 parser = argparse.ArgumentParser(description = "todo")
@@ -85,9 +85,9 @@ DEMO_NAME = args.demo_name
 print "# Load demo config : ",DEMO_NAME
 # Import the module
 try :
-    demo_cfg = importlib.import_module('hpp_wholebody_motion.demo_configs.'+DEMO_NAME)
+    demo_cfg = importlib.import_module('mlp.demo_configs.'+DEMO_NAME)
 except ImportError:
-    raise NameError("No demo config file with the given name in hpp_wholebody_motion.demo_config")
+    raise NameError("No demo config file with the given name in mlp.demo_config")
 # Determine a list of names to copy to the current name space
 names = getattr(demo_cfg, '__all__', [n for n in dir(demo_cfg) if not n.startswith('_')])
 # Copy those names into the current name space

scripts/hpp_wholebody_motion/contact_sequence/rbprm.py → scripts/mlp/contact_sequence/rbprm.py

@@ -2,11 +2,11 @@ import pinocchio as se3
 from pinocchio import SE3, Quaternion
 from pinocchio.utils import *
 import inspect
-import hpp_wholebody_motion.config as cfg
+import mlp.config as cfg
 import locomote
 from locomote import WrenchCone,SOC6,ContactPatch, ContactPhaseHumanoid, ContactSequenceHumanoid
 global i_sphere 
-from hpp_wholebody_motion.utils.util import quatFromConfig
+from mlp.utils.util import quatFromConfig
 
 
 def generateContactSequence(fb,configs,beginId,endId):

scripts/mlp/demo_configs/hrp2_pushRecovery.py

+TIMEOPT_CONFIG_FILE = "cfg_softConstraints_hrp2.yaml"
+TIMEOPT_CONFIG_FILE = "cfg_softConstraints_hrp2_eff85.yaml"
+
+from common_hrp2 import *
+SCRIPT_PATH = "sandbox"
+
+DURATION_INIT = 1. # Time to init the motion
+DURATION_FINAL = 1.5 # Time to stop the robot
+DURATION_FINAL_SS = 1.
+DURATION_SS =1.4
+DURATION_DS = 0.3
+DURATION_TS = 0.4
+
+COM_SHIFT_Z = 0.
+TIME_SHIFT_COM = 0.
+
+## Settings for end effectors : 
+EFF_T_PREDEF = 0.3
+p_max = 0.1
\ No newline at end of file