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")
예제 #2
0
cg.setConstraints (graph = True, lockDof = lockAll)

res = ps.client.manipulation.problem.applyConstraints (cg.nodes['free'], q_init)
if not res[0]:
  raise Exception ('Init configuration could not be projected.')
q_init_proj = res [1]

res = ps.client.manipulation.problem.applyConstraints (cg.nodes['free'], q_goal)
if not res[0]:
  raise Exception ('Goal configuration could not be projected.')
q_goal_proj = res [1]

ps.setInitialConfig (q_init_proj)
ps.addGoalConfig (q_goal_proj)

from hpp.corbaserver import Benchmark
import random, sys
b = Benchmark (robot.client.basic, robot, ps)
b.seedRange = random.sample (xrange (100000), 20)
# b.iterPerCase = 3

b.tryResumeAndDelete ()

try:
    results = b.do()
except:
    sys.exit(1)

b.writeResume (filename = "results.pickle")
예제 #3
0
v = Viewer (ps)
v.loadObstacleModel("hpp-ompl-benchmark", "Abstract_env", "env")



q_init = [2.1, -5.81216, -1, 1 , 0, 0, 0]
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
#!/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
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)



예제 #6
0
#!/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