diff --git a/profile/log.txt b/profile/log.txt
deleted file mode 100644
index 802624aac199d7df808042bd71187cb215e6f2ca..0000000000000000000000000000000000000000
--- a/profile/log.txt
+++ /dev/null
@@ -1,169 +0,0 @@
-
-*** PROFILING RESULTS [ms] (min - avg - max - total time - nSamples) ***
-collision 0.13 0.17 0.24 21.95 130
-complete generation 22260.40 22260.40 22260.40 22260.40 1
-ik 0.07 0.07 0.10 9.33 130
-test balance 0.08 0.12 0.18 15.72 130
-contact: 135
-planner succeeded: 1
-unstable contact: 3
-path computation 34826
-
-*** PROFILING RESULTS [ms] (min - avg - max - total time - nSamples) ***
-collision 0.14 0.18 0.37 30.36 173
-complete generation 44650.94 44650.94 44650.94 44650.94 1
-ik 0.07 0.07 0.13 12.86 173
-test balance 0.08 0.13 0.24 23.06 173
-contact: 178
-planner succeeded: 1
-unstable contact: 3
-path computation 64826
-
-*** PROFILING RESULTS [ms] (min - avg - max - total time - nSamples) ***
-collision 0.05 0.17 0.24 25.03 151
-complete generation 49351.72 49351.72 49351.72 49351.72 1
-ik 0.06 0.07 0.09 10.81 151
-test balance 0.09 0.13 0.19 19.05 142
-contact: 147
-planner succeeded: 1
-unstable contact: 3
-path computation 9826
-
-*** PROFILING RESULTS [ms] (min - avg - max - total time - nSamples) ***
-collision 0.14 0.17 0.25 23.45 137
-complete generation 20112.68 20112.68 20112.68 20112.68 1
-ik 0.07 0.07 0.14 10.06 137
-test balance 0.08 0.13 0.21 17.87 137
-contact: 140
-planner succeeded: 1
-unstable contact: 5
-path computation 44826
-
-*** PROFILING RESULTS [ms] (min - avg - max - total time - nSamples) ***
-collision 0.14 0.18 0.30 24.60 137
-complete generation 26778.59 26778.59 26778.59 26778.59 1
-ik 0.06 0.08 0.15 10.58 137
-test balance 0.08 0.14 0.24 18.82 137
-contact: 142
-planner succeeded: 1
-unstable contact: 3
-path computation 24826
-
-*** PROFILING RESULTS [ms] (min - avg - max - total time - nSamples) ***
-collision 0.15 0.17 0.22 20.92 124
-complete generation 17380.98 17380.98 17380.98 17380.98 1
-ik 0.06 0.07 0.09 9.03 124
-test balance 0.09 0.14 0.22 17.09 124
-contact: 129
-planner succeeded: 1
-unstable contact: 3
-path computation 24826
-
-*** PROFILING RESULTS [ms] (min - avg - max - total time - nSamples) ***
-collision 0.14 0.17 0.27 18.70 110
-complete generation 14177.46 14177.46 14177.46 14177.46 1
-ik 0.06 0.07 0.12 8.05 110
-test balance 0.09 0.14 0.21 15.10 110
-contact: 115
-planner succeeded: 1
-unstable contact: 3
-path computation 24826
-
-*** PROFILING RESULTS [ms] (min - avg - max - total time - nSamples) ***
-collision 0.14 0.17 0.30 19.44 113
-complete generation 14536.93 14536.93 14536.93 14536.93 1
-ik 0.06 0.07 0.17 8.47 113
-test balance 0.09 0.14 0.23 15.47 113
-contact: 118
-planner succeeded: 1
-unstable contact: 3
-path computation 24826
-contact: 128
-planner failed: 1
-unstable contact: 3
-path computation 147468
-contact: 116
-planner failed: 1
-unstable contact: 3
-path computation 51695
-
-*** PROFILING RESULTS [ms] (min - avg - max - total time - nSamples) ***
-collision 0.14 0.17 0.26 29.79 174
-complete generation 27216.90 27216.90 27216.90 27216.90 1
-ik 0.06 0.07 0.12 12.88 174
-test balance 0.08 0.13 0.21 23.01 174
-contact: 179
-planner succeeded: 1
-unstable contact: 3
-path computation 35540
-
-*** PROFILING RESULTS [ms] (min - avg - max - total time - nSamples) ***
-collision 0.14 0.17 0.27 27.04 160
-complete generation 29102.41 29102.41 29102.41 29102.41 1
-ik 0.07 0.08 0.12 12.09 160
-test balance 0.08 0.13 0.20 20.84 160
-contact: 165
-planner succeeded: 1
-unstable contact: 3
-path computation 83144
-
-*** PROFILING RESULTS [ms] (min - avg - max - total time - nSamples) ***
-collision 0.13 0.17 0.29 26.88 155
-complete generation 51097.25 51097.25 51097.25 51097.25 1
-ik 0.07 0.07 0.13 11.28 155
-test balance 0.09 0.13 0.23 20.52 155
-contact: 159
-planner succeeded: 1
-unstable contact: 4
-path computation 187300
-
-*** PROFILING RESULTS [ms] (min - avg - max - total time - nSamples) ***
-collision 0.11 0.17 0.30 31.18 179
-complete generation 38000.61 38000.61 38000.61 38000.61 1
-ik 0.06 0.08 0.14 13.54 179
-test balance 0.08 0.14 0.25 24.61 176
-contact: 181
-planner succeeded: 1
-unstable contact: 3
-path computation 36312
-
-*** PROFILING RESULTS [ms] (min - avg - max - total time - nSamples) ***
-collision 0.06 0.17 0.28 21.54 128
-complete generation 10593.58 10593.58 10593.58 10593.58 1
-ik 0.07 0.08 0.12 9.68 128
-test balance 0.08 0.13 0.18 16.48 125
-contact: 130
-planner succeeded: 1
-unstable contact: 3
-path computation 66472
-
-*** PROFILING RESULTS [ms] (min - avg - max - total time - nSamples) ***
-collision 0.14 0.17 0.27 20.75 121
-complete generation 23098.15 23098.15 23098.15 23098.15 1
-ik 0.07 0.08 0.15 9.14 121
-test balance 0.08 0.12 0.21 15.00 121
-contact: 126
-planner succeeded: 1
-unstable contact: 3
-path computation 79946
-
-*** PROFILING RESULTS [ms] (min - avg - max - total time - nSamples) ***
-collision 0.06 0.17 0.28 21.54 128
-complete generation 10593.58 10593.58 10593.58 10593.58 1
-ik 0.07 0.08 0.12 9.68 128
-test balance 0.08 0.13 0.18 16.48 125
-contact: 130
-planner succeeded: 1
-unstable contact: 3
-
-path computation 76032
-
-*** PROFILING RESULTS [ms] (min - avg - max - total time - nSamples) ***
-collision 0.14 0.17 0.22 21.34 125
-complete generation 15167.09 15167.09 15167.09 15167.09 1
-ik 0.06 0.07 0.11 9.33 125
-test balance 0.09 0.13 0.18 16.27 125
-contact: 130
-planner succeeded: 1
-unstable contact: 3
-path computation 80763
diff --git a/profile/profile.py b/profile/profile.py
index d4437c281b87f50ea9fcf5e839a8fa55706f6d9d..f17277cd259837099f46b2d88e145e3375804745 100755
--- a/profile/profile.py
+++ b/profile/profile.py
@@ -7,9 +7,9 @@ import datetime
import time
#~ scenarios = ['standing_hrp2']
-scenarios = ['slalom_hyq']
+scenarios = ['downSlope_hrp2']
#~ scenarios = ['stair_bauzil_hrp2']
-n_trials = 20
+n_trials = 10
stats = ['balance','collision','ik']
stats_optim = ['time_cwc','com_traj']
diff --git a/script/dynamic/downSlope_hrp2_interp.py b/script/dynamic/downSlope_hrp2_interp.py
index b028750592e239d6da72e4c306a2caa89eb3e489..68c584380b6d3b5b3164f12ebcce51c2e43cc6d7 100644
--- a/script/dynamic/downSlope_hrp2_interp.py
+++ b/script/dynamic/downSlope_hrp2_interp.py
@@ -95,11 +95,11 @@ fullBody.setEndState(q_goal,[rLegId,lLegId])
-configs = fullBody.interpolate(0.07,pathId=pId,robustnessTreshold = 3, filterStates = True)
+configs = fullBody.interpolate(0.001,pathId=pId,robustnessTreshold = 3, filterStates = True)
print "number of configs :", len(configs)
r(configs[-1])
-
+"""
from hpp.gepetto import PathPlayer
pp = PathPlayer (fullBody.client.basic, r)
@@ -111,7 +111,7 @@ player = fullBodyPlayerHrp2.Player(fullBody,pp,tp,configs,draw=False,use_window=
player.interpolate(4,5)
-
+"""
"""
import hpp.corbaserver.rbprm.tools.cwc_trajectory
diff --git a/script/dynamic/downSlope_hrp2_pathKino.py b/script/dynamic/downSlope_hrp2_pathKino.py
index f5aba14b3b0d156d255a5f22eb69aaf1ca0ebb5d..09c889592b2cb06fe362d481e732f7edd40eb998 100644
--- a/script/dynamic/downSlope_hrp2_pathKino.py
+++ b/script/dynamic/downSlope_hrp2_pathKino.py
@@ -34,7 +34,7 @@ extraDof = 6
rbprmBuilder = Builder ()
rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
#rbprmBuilder.setJointBounds ("base_joint_xyz", [-1.25,2, -0.5, 5.5, 0.6, 1.8])
-rbprmBuilder.setJointBounds ("base_joint_xyz", [-2,4, 0, 2, 0.2, 1.8])
+rbprmBuilder.setJointBounds ("base_joint_xyz", [-2,4, 0.5, 1.5, 0.2, 1.8])
rbprmBuilder.setJointBounds('CHEST_JOINT0',[0,0])
rbprmBuilder.setJointBounds('CHEST_JOINT1',[-0.35,0.1])
rbprmBuilder.setJointBounds('HEAD_JOINT0',[0,0])
@@ -83,7 +83,7 @@ q_goal = q_init [::]
q_goal[3:7] = [1,0,0,0]
q_goal[8] = 0
-q_goal [0:3] = [3, 1, 0.55]; r (q_goal)
+q_goal [0:3] = [3.3, 1, 0.55]; r (q_goal)
r (q_goal)
#~ q_goal [0:3] = [-1.5, 0, 0.63]; r (q_goal)
@@ -105,18 +105,15 @@ r(q_init)
#r.solveAndDisplay("rm",1,0.01)
-"""
-t = ps.solve()
-
+t = ps.solve ()
if isinstance(t, list):
- ts = t[0]* 3600. + t[1] * 60. + t[2] + t[3]/1000.
-
-f= open("/local/dev_hpp/logs/benchHrp2_slope_LP.txt","a")
-f.write("t = "+str(ts))
+ t = t[0]* 3600000 + t[1] * 60000 + t[2] * 1000 + t[3]
+f = open('log.txt', 'a')
+f.write("path computation " + str(t) + "\n")
f.close()
-"""
+"""
for i in range(0,9):
t = ps.solve()
if isinstance(t, list):
@@ -126,9 +123,8 @@ for i in range(0,9):
f.write("path_length = "+str(ps.client.problem.pathLength(i)) + "\n")
f.close()
print "problem "+str(i)+" solved \n"
-
ps.clearRoadmap()
-
+"""
#ps.client.problem.prepareSolveStepByStep()
#ps.client.problem.finishSolveStepByStep()
@@ -160,7 +156,14 @@ for i in range(0,ps.numberNodes()):
r.client.gui.removeFromGroup("vecRM"+str(i),r.sceneName)
"""
+from hpp.gepetto import PathPlayer
+pp = PathPlayer (rbprmBuilder.client.basic, r)
+pp.dt=0.03
+pp.displayVelocityPath(0)
+r.client.gui.setVisibility("path_0_root","ALWAYS_ON_TOP")
+
+"""
# for seed 1486657707
ps.client.problem.extractPath(0,0,2.15)
@@ -173,7 +176,7 @@ r.client.gui.setVisibility("path_1_root","ALWAYS_ON_TOP")
#display path
pp.speed=0.3
#pp (0)
-
+"""
#display path with post-optimisation
diff --git a/script/dynamic/log.txt b/script/dynamic/log.txt
index 5996be966ed0952550421ebb886ed6114c9299fa..10fe89dec59835c8a7a132d9667a122c5a09b574 100644
--- a/script/dynamic/log.txt
+++ b/script/dynamic/log.txt
@@ -2416,3 +2416,5 @@ test balance 0.08 0.13 0.20 19.30 144
contact: 150
planner succeeded: 1
unstable contact: 2
+path computation 887965
+path computation 2632519