Commit f3005be1 authored by Florent Lamiraux's avatar Florent Lamiraux

Update script and add benchmark.

parent dd00b4f0
......@@ -2,7 +2,6 @@ collada-dom: 1d49f787f52f1d41aac6f08e03076e8c76f589d2
gepetto-viewer: 4b188bc0af6d5f5d5e730d964f4fb31232b546f0
gepetto-viewer-corba: b5cf905665faaa9de42c5cbf07bd041fd8ea13b5
hpp-baxter: 08a9aefcf9c5e6d7e4d5ce320e838d9a81f9a69c
hpp_benchmark: 1ea1f4738200b0d0f4e6a812295ba0a6963f4d4b
hpp-constraints: cef397962b71983df333cacc8ac7634657e2f2f2
hpp-corbaserver: 7e7ed35356bd71641950a99e33b69bce4ef8149d
hpp-core: 53d0c9774369d8bb4dff68ba7d083d16081f9e77
......
......@@ -84,9 +84,9 @@ for n in jointNames['all']:
ps.addPassiveDofs ('pr2', jointNames ['pr2'])
cg.createGrasp ('l_grasp', 'pr2/l_gripper', 'box/handle', 'pr2')
cg.createGrasp ('l_grasp', 'pr2/l_gripper', 'box/handle')
cg.createGrasp ('r_grasp', 'pr2/r_gripper', 'box/handle2', 'pr2')
cg.createGrasp ('r_grasp', 'pr2/r_gripper', 'box/handle2')
cg.createPreGrasp ('l_pregrasp', 'pr2/l_gripper', 'box/handle')
cg.createPreGrasp ('r_pregrasp', 'pr2/r_gripper', 'box/handle2')
......@@ -127,7 +127,7 @@ _["both"]="2 grasps"
_["left"]="Left grasp"
_["right"]="Right grasp"
_["free"]="No grasp"
_["move_both"] = "move both"
# _["r_grasp"]=""
# _["l_grasp"]=""
# _["b_r_grasp"]=""
......@@ -197,6 +197,8 @@ cg.createEdge ('left', 'left', 'l_keep_grasp', 5)
cg.createEdge ('right', 'right', 'r_keep_grasp', 5)
cg.createEdge ('both', 'both', 'move_both', 1)
cg.setConstraints (edge='move_free', lockDof = lockbox)
# 4}}}
......
......@@ -2,7 +2,6 @@ collada-dom: 1d49f787f52f1d41aac6f08e03076e8c76f589d2
gepetto-viewer: 4b188bc0af6d5f5d5e730d964f4fb31232b546f0
gepetto-viewer-corba: b5cf905665faaa9de42c5cbf07bd041fd8ea13b5
hpp-baxter: 08a9aefcf9c5e6d7e4d5ce320e838d9a81f9a69c
hpp_benchmark: 1ea1f4738200b0d0f4e6a812295ba0a6963f4d4b
hpp-constraints: cef397962b71983df333cacc8ac7634657e2f2f2
hpp-corbaserver: 7e7ed35356bd71641950a99e33b69bce4ef8149d
hpp-core: 31ae4bc1dbc39b9a1afc4a9383a7e58b8d31d698
......
0:00:27.813791
Number nodes: 35
0:02:57.047034
Number nodes: 277
0:00:18.492083
Number nodes: 33
0:01:44.651585
Number nodes: 169
0:02:13.609742
Number nodes: 198
0:00:11.770565
Number nodes: 16
0:00:34.533881
Number nodes: 53
0:01:24.340588
Number nodes: 110
0:02:14.977608
Number nodes: 216
0:01:32.459299
Number nodes: 141
0:00:16.589045
Number nodes: 29
0:01:05.121499
Number nodes: 108
0:02:53.395989
Number nodes: 266
0:02:02.918383
Number nodes: 147
0:02:19.461084
Number nodes: 187
0:00:32.149221
Number nodes: 29
0:02:41.145115
Number nodes: 191
0:00:45.268623
Number nodes: 87
0:00:58.367563
Number nodes: 84
0:00:45.060734
Number nodes: 43
Average time: 83.9586716
Average number nodes: 120.95
......@@ -84,9 +84,9 @@ for n in jointNames['all']:
ps.addPassiveDofs ('pr2', jointNames ['pr2'])
cg.createGrasp ('l_grasp', 'pr2/l_gripper', 'box/handle', 'pr2')
cg.createGrasp ('l_grasp', 'pr2/l_gripper', 'box/handle')
cg.createGrasp ('r_grasp', 'pr2/r_gripper', 'box/handle2', 'pr2')
cg.createGrasp ('r_grasp', 'pr2/r_gripper', 'box/handle2')
cg.createPreGrasp ('l_pregrasp', 'pr2/l_gripper', 'box/handle')
cg.createPreGrasp ('r_pregrasp', 'pr2/r_gripper', 'box/handle2')
......@@ -127,7 +127,7 @@ _["both"]="2 grasps"
_["left"]="Left grasp"
_["right"]="Right grasp"
_["free"]="No grasp"
_["move_both"] = "move both"
# _["r_grasp"]=""
# _["l_grasp"]=""
# _["b_r_grasp"]=""
......@@ -147,7 +147,7 @@ cg.setConstraints (node='free', numConstraints=['box_placement'])
# Right hand {{{4
cg.setConstraints (node='right', grasps = ['r_grasp',])
cg.createWaypointEdge ('free', 'right', 'r_grasp', nb=1, weight=10)
cg.createWaypointEdge ('free', 'right', 'r_grasp', 1, 10, True)
cg.setConstraints (edge='r_grasp_e1', lockDof = lockbox)
cg.setConstraints (node='r_grasp_n0', pregrasps = ['r_pregrasp',])
......@@ -157,7 +157,7 @@ cg.setConstraints (edge='r_grasp_e0', lockDof = lockbox)
# Left hand {{{4
cg.setConstraints (node = 'left', grasps = ['l_grasp',])
cg.createWaypointEdge ('free', 'left', 'l_grasp', 1, 10)
cg.createWaypointEdge ('free', 'left', 'l_grasp', 1, 10, True, True)
cg.setConstraints (edge='l_grasp_e1', lockDof = lockbox)
cg.setConstraints (node='l_grasp_n0', pregrasps = ['l_pregrasp',])
......@@ -167,35 +167,34 @@ cg.setConstraints (edge='l_grasp_e0', lockDof = lockbox)
# Both hands {{{4
cg.setConstraints (node='both', grasps = ['l_grasp', 'r_grasp'])
cg.createWaypointEdge ('both', 'right', 'b_l_ungrasp', 1, 1)
cg.createWaypointEdge ('both', 'right', 'b_l_ungrasp', 1, 1, False, True)
cg.createWaypointEdge ('right', 'both', 'b_l_grasp', 1, 10)
cg.createWaypointEdge ('right', 'both', 'b_l_grasp', 1, 10, True, True)
cg.setConstraints (node='b_l_ungrasp_n0', grasps = ['r_grasp',],
pregrasps = ['l_pregrasp',])
cg.setConstraints (node='b_l_ungrasp_n0', pregrasps = ['l_pregrasp',])
cg.setConstraints (edge='b_l_ungrasp_e0', lockDof = lockbox)
cg.setConstraints (edge='b_l_grasp_e1', lockDof = lockbox)
cg.setConstraints (node='b_l_grasp_n0', grasps = ['r_grasp',],
pregrasps = ['l_pregrasp',])
cg.setConstraints (node='b_l_grasp_n0', pregrasps = ['l_pregrasp',])
cg.createWaypointEdge ('both', 'left', 'b_r_ungrasp', 1, 1)
cg.createWaypointEdge ('both', 'left', 'b_r_ungrasp', 1, 1, False, True)
cg.createWaypointEdge ('left', 'both', 'b_r_grasp', 1, 10)
cg.createWaypointEdge ('left', 'both', 'b_r_grasp', 1, 10, True, True)
cg.setConstraints (node='b_r_ungrasp_n0', grasps = ['l_grasp',],
pregrasps = ['r_pregrasp',])
cg.setConstraints (node='b_r_ungrasp_n0', pregrasps = ['r_pregrasp',])
cg.setConstraints (edge='b_r_ungrasp_e0', lockDof = lockbox)
cg.setConstraints (edge='b_r_grasp_e1', lockDof = lockbox)
cg.setConstraints (node='b_r_grasp_n0', grasps = ['l_grasp',],
pregrasps = ['r_pregrasp',])
cg.setConstraints (node='b_r_grasp_n0', pregrasps = ['r_pregrasp',])
# 4}}}
# Loops {{{4
cg.createEdge ('free', 'free', 'move_free', 1)
cg.createEdge ('free', 'free', 'move_free', 1, True)
cg.createEdge ('left', 'left', 'l_keep_grasp', 5, True)
cg.createEdge ('left', 'left', 'l_keep_grasp', 5)
cg.createEdge ('right', 'right', 'r_keep_grasp', 5, True)
cg.createEdge ('right', 'right', 'r_keep_grasp', 5)
cg.createEdge ('both', 'both', 'move_both', 1, True)
cg.setConstraints (edge='move_free', lockDof = lockbox)
# 4}}}
......
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