q_goal = [-3, -4.3, 1, 0.7071, 0.7071, 0, 0] v(q_init) robot.setJointBounds ('base_joint_xyz', [-5.5, 6.5, -12, 0, -5, 6]) # robot.setJointBounds ('base_joint_SO3', [-pi, pi, -pi, pi, -pi, pi, -pi, pi]) ps.setInitialConfig (q_init) ps.addGoalConfig (q_goal) from hpp.corbaserver import Benchmark benchmark = Benchmark (robot.client, robot, ps) ps.client.problem.setRandomSeed(1927402002) benchmark.seedRange = range (50) benchmark.iterPerCase = 1 results = benchmark.do() benchmark.writeDatabase("dbHPP.db","abstract","abstractLogs.log",True) #------------------------------------------------------------------ # name = cubicles # robot = cubicles_robot # world = cubicles_env from math import pi from hpp.corbaserver.hpp_ompl_benchmark.cubicles import Robot robot = Robot('ompl') from hpp.corbaserver import ProblemSolver ps = ProblemSolver (robot) from hpp.gepetto import Viewer v = Viewer (ps) v.loadObstacleModel("hpp-ompl-benchmark", "cubicles_env", "env")
from hpp.corbaserver import ProblemSolver ps = ProblemSolver (robot) from hpp.gepetto import Viewer v = Viewer (ps) v.loadObstacleModel("hpp-ompl-benchmark", "pipedream_env", "env") q_init = [2.02,-0.0912,0.786,0.707,0.707,0,0] q_goal = [1.587,-0.345,0.634,1,0,0,0] robot.setJointBounds ('base_joint_xyz', [1.08, 2.43, -0.824, 0.28, 0.3, 1.7]) # robot.setJointBounds ('base_joint_SO3', [-pi, pi, -pi, pi, -pi, pi, -pi, pi]) ps.setInitialConfig (q_init) ps.addGoalConfig (q_goal) ps.client.problem.selectPathValidation("Progressive",0.03) ps.client.problem.clearPathOptimizers() v(q_init) from hpp.corbaserver import Benchmark benchmark = Benchmark (robot.client, robot, ps) #ps.client.problem.setRandomSeed(3530408688) benchmark.seedRange = range (50) benchmark.iterPerCase = 1 results = benchmark.do() benchmark.writeDatabase("dbHPPCont.db","pipedream","pipedreamLogsCont.log",True)