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)
