Fix examples.

unitTesting/python/dynamic_walk.py

@@ -24,8 +24,7 @@ from dynamic_graph.sot.dynamics.hrp2 import Hrp2
 
 from dynamic_graph import enableTrace, plug
 
-from tools import *
-
+from dynamic_graph.sot.dynamics.tools import *
 
 class HalfStep:
     startX = 0.

unitTesting/python/feet_follower.py

@@ -15,7 +15,7 @@
 # received a copy of the GNU Lesser General Public License along with
 # dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
 
-from tools import *
+from dynamic_graph.sot.dynamics.tools import *
 
 from dynamic_graph.sot.dynamics.feet_follower import FeetFollowerFromFile
 feetFollower = FeetFollowerFromFile('feet-follower')

unitTesting/python/quasistatic_walking.py

@@ -21,8 +21,7 @@ from dynamic_graph.sot.dynamics.hrp2 import Hrp2
 
 from dynamic_graph import enableTrace, plug
 
-from tools import *
-
+from dynamic_graph.sot.dynamics.tools import *
 
 class QuasiStaticWalking:
     leftFoot = 0
@@ -155,13 +154,12 @@ class QuasiStaticWalking:
 
 # Push tasks
 #  Feet tasks.
-solver.sot.push(robot.name + '.task.right-ankle')
-solver.sot.push(robot.name + '.task.left-ankle')
+solver.sot.push(robot.tasks['right-ankle'].name)
+solver.sot.push(robot.tasks['left-ankle'].name)
 
 #  Center of mass
 # FIXME: trigger segv at exit.
-solver.sot.push(robot.name + '.task.com')
-
+solver.sot.push(robot.comTask.name)
 
 # Main.
 

unitTesting/python/reach_both_hands.py

@@ -16,7 +16,7 @@
 # dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
 
 import sys
-from tools import *
+from dynamic_graph.sot.dynamics.tools import *
 
 # Move left wrist
 reach(robot, 'left-wrist', 0.25, 0.25, 0.5)
@@ -24,13 +24,13 @@ reach(robot, 'right-wrist', 0.25, -0.25, 0.5)
 
 # Push tasks
 #  Operational points tasks
-solver.sot.push(robot.name + '.task.right-ankle')
-solver.sot.push(robot.name + '.task.left-ankle')
-solver.sot.push(robot.name + '.task.left-wrist')
-solver.sot.push(robot.name + '.task.right-wrist')
+solver.sot.push(robot.tasks['right-ankle'].name)
+solver.sot.push(robot.tasks['left-ankle'].name)
+solver.sot.push(robot.tasks['right-wrist'].name)
+solver.sot.push(robot.tasks['left-wrist'].name)
 
 #  Center of mass
-solver.sot.push(robot.name + '.task.com')
+solver.sot.push(robot.comTask.name)
 
 # Main.
 #  Main loop

unitTesting/python/reach_left_hand.py

@@ -16,20 +16,20 @@
 # dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
 
 import sys
-from tools import *
+from dynamic_graph.sot.dynamics.tools import *
 
 # Move left wrist
 reach(robot, 'left-wrist', 0.25, 0, 0.1)
 
 # Push tasks
 #  Operational points tasks
-solver.sot.push(robot.name + '.task.right-ankle')
-solver.sot.push(robot.name + '.task.left-ankle')
-solver.sot.push(robot.name + '.task.left-wrist')
-solver.sot.push(robot.name + '.task.right-wrist')
+solver.sot.push(robot.tasks['right-ankle'].name)
+solver.sot.push(robot.tasks['left-ankle'].name)
+solver.sot.push(robot.tasks['right-wrist'].name)
+solver.sot.push(robot.tasks['left-wrist'].name)
 
 #  Center of mass
-solver.sot.push(robot.name + '.task.com')
+solver.sot.push(robot.comTask.name)
 
 # Main.
 #  Main loop

unitTesting/python/reach_right_hand.py

@@ -15,20 +15,20 @@
 # received a copy of the GNU Lesser General Public License along with
 # dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
 
-from tools import *
+from dynamic_graph.sot.dynamics.tools import *
 
 # Move right wrist
 reach(robot, 'right-wrist', 0.25, 0, 0.1)
 
 # Push tasks
 #  Operational points tasks
-solver.sot.push(robot.name + '.task.right-ankle')
-solver.sot.push(robot.name + '.task.left-ankle')
-solver.sot.push(robot.name + '.task.left-wrist')
-solver.sot.push(robot.name + '.task.right-wrist')
+solver.sot.push(robot.tasks['right-ankle'].name)
+solver.sot.push(robot.tasks['left-ankle'].name)
+solver.sot.push(robot.tasks['right-wrist'].name)
+solver.sot.push(robot.tasks['left-wrist'].name)
 
 #  Center of mass
-solver.sot.push(robot.name + '.task.com')
+solver.sot.push(robot.comTask.name)
 
 # Main.
 #  Main loop