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")
#!/usr/bin/env python from hpp.corbaserver import Benchmark import argparse parser = argparse.ArgumentParser\ (description='Print results obtained with class hpp.corbaserver.Benchmark') parser.add_argument('input_file', type=str, nargs=1, help='input file containing the saved results') parser.add_argument('output_file', type=str, nargs='?', default=None, help='output file (standard output is used if omitted)') args = parser.parse_args() b = Benchmark(None, None, None) b.resumeFrom(args.input_file[0]) if args.output_file: with open(args.output_file, 'w') as f: f.write(str(b)) else: print b