0.8.0 hotfix for ipython 0.11+

python/openrave.py.in

@@ -199,8 +199,14 @@ if __name__ == "__main__":
             ipythonthread = None
             if options.ipython:
 
+                api_version = None
+                import IPython
+                if IPython.__version__.startswith("0.10"):
+                    api_version = '0.10'
+                elif IPython.__version__.startswith("0.11"):
+                    api_version = '0.11'
+
                 # start ipython in a separate thread
-                from IPython.Shell import IPShellEmbed
                 def ipythonthreadfn(env):
                     try:
                         with env:
@@ -208,8 +214,17 @@ if __name__ == "__main__":
                             robot=None if len(robots) == 0 else robots[0]
                             bodies=env.GetBodies()
                             body=None if len(bodies) == 0 else bodies[0]
-                        ipshell = IPShellEmbed(argv='',banner = 'OpenRAVE Dropping into IPython, variables: env, robot, body',exit_msg = 'Leaving Interpreter and closing program.')
-                        ipshell(local_ns=locals())
+                        if api_version == '0.10':
+                            ipshell = IPython.Shell.IPShellEmbed(argv='',banner = 'OpenRAVE %s dropping into IPython, variables: env, robot, body'%openravepy.__version__,exit_msg = 'Leaving Interpreter and closing program.')
+                            ipshell(local_ns=locals())
+                        else:
+                            from IPython.config.loader import Config
+                            cfg = Config()
+                            cfg.InteractiveShellEmbed.local_ns = locals()
+                            cfg.InteractiveShellEmbed.global_ns = globals()
+                            IPython.embed(config=cfg, banner2 = 'OpenRAVE %s dropping into IPython, variables: env, robot, body'%openravepy.__version__)
+                            from IPython.frontend.terminal.embed import InteractiveShellEmbed
+                            ipshell = InteractiveShellEmbed(config=cfg)
                     finally:
                         # ipython exited. if viewer is valid, then exit the viewer also
                         if viewer is not None: