res = ps.client.manipulation.problem.applyConstraints (cg.nodes['free'], q_goal_monotone) if not res[0]: raise Exception ('Goal configuration could not be projected.') q_goal_monotone_proj = res [1] res = ps.client.manipulation.problem.applyConstraints (cg.nodes['free'], q_goal_inverted) if not res[0]: raise Exception ('Goal configuration could not be projected.') q_goal_inverted_proj = res [1] ps.setInitialConfig (q_init_proj) # ps.addGoalConfig (q_goal_monotone_proj) ps.addGoalConfig (q_goal_inverted_proj) # from hpp.corbaserver import Benchmark import sys from hpp.corbaserver import Benchmark b = Benchmark (robot.client.basic, robot, ps) b.seedRange = xrange (20) b.iterPerCase = 1 b.tryResumeAndDelete () try: b.do() except: sys.exit(1) b.writeResume (filename = "results.pickle")