diff --git a/CMakeLists.txt b/CMakeLists.txt index 416ee0e..ff06513 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -3,7 +3,7 @@ project(cito) add_compile_options(-std=c++11) -find_package(catkin REQUIRED) +# find_package(catkin REQUIRED) find_package(Eigen3 REQUIRED) find_package(yaml-cpp 0.6 REQUIRED) find_package(fcl REQUIRED) @@ -21,13 +21,13 @@ endif() set(CMAKE_BUILD_TYPE Release) # set(CMAKE_CXX_FLAGS "-Wall -Wextra -Wpedantic") -catkin_package() +# catkin_package() include_directories( include ${EIGEN3_INCLUDE_DIR} ${MUJOCO_DIR}/include - ${SNOPT_DIR}/include + ${SNOPT_DIR}/interfaces/include ) # Create the CITO library @@ -42,8 +42,8 @@ add_library(${PROJECT_NAME} ) if (${CMAKE_SYSTEM_NAME} MATCHES "Linux") target_link_libraries(${PROJECT_NAME} - ${MUJOCO_DIR}/bin/libmujoco200nogl.so - ${SNOPT_DIR}/lib/libsnopt7_cpp.so + ${MUJOCO_DIR}/lib/libmujoco.so + ${SNOPT_DIR}/lib/.libs/libsnopt7_cpp.so pthread yaml-cpp fcl @@ -81,14 +81,16 @@ endif() add_executable(${NODE_NAME2} src/playlog.cpp) if (${CMAKE_SYSTEM_NAME} MATCHES "Linux") target_link_libraries(${NODE_NAME2} - ${MUJOCO_DIR}/bin/libmujoco200.so - ${MUJOCO_DIR}/bin/libglew.so - ${MUJOCO_DIR}/bin/libglfw.so.3 - GL - yaml-cpp + ${PROJECT_NAME} + # ${MUJOCO_DIR}/bin/libmujoco.so + # ${MUJOCO_DIR}/bin/libglew.so + # ${MUJOCO_DIR}/bin/libglfw.so.3 + glfw + # yaml-cpp ) elseif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin") target_link_libraries(${NODE_NAME2} + ${PROJECT_NAME} ${MUJOCO_DIR}/bin/libmujoco200.dylib ${MUJOCO_DIR}/bin/libglfw.3.dylib yaml-cpp @@ -107,8 +109,8 @@ elseif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin") ) endif() -# Unit tests -catkin_add_gtest(${PROJECT_NAME}-test test/test_cito.cpp) -if(TARGET ${PROJECT_NAME}-test) - target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -endif() \ No newline at end of file +# # Unit tests +# catkin_add_gtest(${PROJECT_NAME}-test test/test_cito.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() \ No newline at end of file diff --git a/config/params.yaml b/config/params.yaml index daef4e2..2400d34 100644 --- a/config/params.yaml +++ b/config/params.yaml @@ -2,20 +2,20 @@ model: "iiwa_workcell.xml" # Penalty loop -penaltyLoop: true +penaltyLoop: false taskType: 0 # 0: manipulation, 1: locomotion # Simulation tf: 1.00 # [s] final time -tc: 5e-2 # [s] control sampling period +tc: 1e-1 # [s] control sampling period # Contact pairs ## number of contact pairs -npair: 4 +npair: 1 ## indices of the sites on the robot -spair1: [4,4,4,4] +spair1: [4] ## indices of the corresponding sites in the environment -spair2: [0,1,2,3] +spair2: [0] # Task ## desired final pose of the control joint @@ -26,5 +26,5 @@ controlJointDOF0: 0 # Weights w1: 1e4 # weight on deviations in x and y directions w2: 1e0 # weight on deviations in z and orientation -w3: 0e-2 # weight on final velocities -w4: 5e-1 # weight on virtual stiffness +w3: 2e-3 # weight on final velocities +w4: 2e-0 # weight on virtual stiffness diff --git a/include/cito/numdiff.h b/include/cito/numdiff.h index a766043..ab2dddd 100644 --- a/include/cito/numdiff.h +++ b/include/cito/numdiff.h @@ -13,6 +13,15 @@ #include "cito/control.h" +struct derivative_interpolator{ + std::string keyPoint_method; + int min_n; + int max_n; + std::vector jerk_thresholds; + std::vector velChange_thresholds; + double error_threshold; +}; + class NumDiff { public: @@ -23,6 +32,12 @@ class NumDiff /// This function calculates derivatives of the state and control trajectories void linDyn(const mjData *dMain, const eigVd &uMain, double *Fxd, double *Fud, double compensateBias); + void saveLinearisation(const std::string file_name, eigTd Fxd, eigTd Fud, int horizon); + + std::vector generateKeypoints(derivative_interpolator di, const eigMd X, int horizon); + + void interpolateDerivs(std::vector keypoints, eigTd &Fxd, eigTd &Fud, int horizon); + private: /// This function sets xNew to the integration of data given a control input void copyTakeStep(const mjData *dMain, const eigVd &u, double *xNew, double compensateBias); diff --git a/include/cito/params.h b/include/cito/params.h index f958e5e..ad72cb6 100644 --- a/include/cito/params.h +++ b/include/cito/params.h @@ -19,7 +19,7 @@ #include #include -#include "mujoco.h" +#include "mujoco/mujoco.h" /// Types typedef Eigen::VectorXd eigVd; @@ -46,7 +46,7 @@ class Params { public: /// Constructor - Params(const mjModel *model_); + Params(const mjModel *model_, int testNumber); /// Destructor ~Params(); /// Simulation and model parameters diff --git a/include/cito/scvx.h b/include/cito/scvx.h index ec9c8f1..1a47987 100644 --- a/include/cito/scvx.h +++ b/include/cito/scvx.h @@ -30,6 +30,8 @@ class SCVX // This function refreshes SCVX variables for a new run void refresh(); + double optTime, costReduction, derivsTime, qpTime; + private: /// MuJoCo model const mjModel *m; @@ -42,6 +44,10 @@ class SCVX beta_expand, beta_shrink, // trust-region expand and shrink factors r0, rMin, rMax; // initial, min, and max trust-region radius bool *accept, dLTolMet = false, stop = false; + double *time_derivs; + double *time_qp; + + /// Trajectories eigMd XSucc, dX, XTilde; eigMd USucc, dU, UTemp; diff --git a/savedTrajecInfo/after_A_matrices.csv b/savedTrajecInfo/after_A_matrices.csv new file mode 100644 index 0000000..984b27f --- /dev/null +++ b/savedTrajecInfo/after_A_matrices.csv @@ -0,0 +1,19 @@ 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diff --git a/savedTrajecInfo/before_A_matrices.csv b/savedTrajecInfo/before_A_matrices.csv new file mode 100644 index 0000000..29a62fe --- /dev/null +++ b/savedTrajecInfo/before_A_matrices.csv @@ -0,0 +1,19 @@ 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diff --git a/src/cito/numdiff.cpp b/src/cito/numdiff.cpp index 76be4bd..ef1ffd8 100644 --- a/src/cito/numdiff.cpp +++ b/src/cito/numdiff.cpp @@ -58,6 +58,9 @@ void NumDiff::hardWorker(const mjData *dMain, const eigVd &uMain, double *deriv, mju_copy(d->xfrc_applied, dMain->xfrc_applied, 6 * m->nbody); mju_copy(d->ctrl, dMain->ctrl, m->nu); // finite-difference over positions +// std::cout << "model nv: " << m->nv << std::endl; +// std::cout << "model nq: " << m->nq << std::endl; +// std::cout << "model nu: " << m->nu << std::endl; for (int i = 0; i < m->nv; i++) { // get joint id for this dof @@ -156,3 +159,115 @@ void NumDiff::linDyn(const mjData *dMain, const eigVd &uMain, double *Fxd, doubl mju_copy(Fud, deriv + cp->n * cp->n, cp->n * cp->m); mju_free(deriv); } + +std::vector NumDiff::generateKeypoints(derivative_interpolator di, const eigMd X, int horizon){ + std::vector keypoints; + keypoints.push_back(0); + + if(di.keyPoint_method == "set_interval"){ + for(int i = 1; i < horizon; i++){ + if(i % di.min_n == 0){ + keypoints.push_back(i); + } + } + + } + else if(di.keyPoint_method == "adaptive_jerk"){ + + } + else if(di.keyPoint_method == "magvel_change"){ + + } + else if(di.keyPoint_method == "iterative_error"){ + + } + else{ + std::cout << "keyPoint_method not recognized" << std::endl; + } + + // Check if last keypoint is the horizon + if(keypoints.back() != horizon){ + keypoints.push_back(horizon); + } + + return keypoints; +} + +void NumDiff::interpolateDerivs(std::vector keypoints, eigTd &Fxd, eigTd &Fud, int horizon){ + int num_keypoints = keypoints.size(); + int dof = Fxd[0].rows() / 2; + int num_ctrl = Fud[0].cols(); + + // Loop over the keypoints + for(int i = 0; i < num_keypoints - 1; i++){ + int start_index = keypoints[i]; + int end_index = keypoints[i+1]; + int interval = end_index - start_index; + + eigMd Fxd_start = Fxd[start_index]; + eigMd Fxd_end = Fxd[end_index]; + eigMd Fxd_add = (Fxd_end - Fxd_start) / interval; + + eigMd Fud_start = Fud[start_index]; + eigMd Fud_end = Fud[end_index]; + eigMd Fud_add = (Fud_end - Fud_start) / interval; + + for(int j = 1; j < interval; j++){ + Fxd[start_index + j] = Fxd_start + Fxd_add * j; + Fud[start_index + j] = Fud_start + Fud_add * j; + } + } + +// // Interpolate Fud +// for(int i = 0; i < num_keypoints - 1; i++){ +// int start = keypoints[i]; +// int end = keypoints[i+1]; +// int num_intervals = end - start; +// for(int j = 0; j < num_intervals; j++){ +// double alpha = (double)j / (double)num_intervals; +// Fud[start + j] = (1 - alpha) * Fud[start] + alpha * Fud[end]; +// } +// } +// +// // Fill in the rest of the trajectory +// for(int i = 0; i < horizon; i++){ +// if(Fxd[i].isZero()){ +// Fxd[i] = Fxd[i-1]; +// } +// if(Fud[i].isZero()){ +// Fud[i] = Fud[i-1]; +// } +// } +} + +void NumDiff::saveLinearisation(const std::string file_prefix, eigTd Fxd, eigTd Fud, int horizon){ + std::string projectParentPath = __FILE__; + projectParentPath = projectParentPath.substr(0, projectParentPath.find_last_of("/\\")); + projectParentPath = projectParentPath.substr(0, projectParentPath.find_last_of("/\\")); + projectParentPath = projectParentPath.substr(0, projectParentPath.find_last_of("/\\")); + std::string rootPath = projectParentPath + "/savedTrajecInfo/" + file_prefix; + + std::string filename = rootPath + "_A_matrices.csv"; + std::cout << "filename: " << filename << std::endl; + std::ofstream fileOutput; + fileOutput.open(filename); + + int dof = Fxd[0].rows() / 2; + int num_ctrl = Fud[0].cols(); + + // trajectory length + for(int i = 0; i < horizon - 1; i++){ + // Row + for(int j = 0; j < (dof); j++){ + // Column + for(int k = 0; k < (2 * dof); k++){ +// std::cout << Fxd[i](j, k) << ","; + fileOutput << Fxd[i](j + dof, k) << ","; + } + + } + fileOutput << std::endl; + } + + fileOutput.close(); +} diff --git a/src/cito/params.cpp b/src/cito/params.cpp index 1054604..cfb11d0 100644 --- a/src/cito/params.cpp +++ b/src/cito/params.cpp @@ -5,7 +5,7 @@ #include "cito/params.h" // ***** CONSTRUCTOR *********************************************************** -Params::Params(const mjModel *model_) : model(model_) +Params::Params(const mjModel *model_, int testNumber) : model(model_) { // read config files YAML::Node params = YAML::LoadFile(paths::workspaceDir + "/src/cito/config/params.yaml"); @@ -14,6 +14,18 @@ Params::Params(const mjModel *model_) : model(model_) desiredPos.resize(6); std::vector desiredPosInput = {params["desiredFinalPos"].as>()}; desiredPos = Eigen::Map(desiredPosInput.data(), desiredPosInput.size()); + + if(testNumber != -1){ + // load data from testingData/scenes + YAML::Node sceneParams = YAML::LoadFile(paths::workspaceDir + "/src/cito/testingData/scenes/" + std::to_string(testNumber) + ".yaml"); + + desiredPosInput = {sceneParams["desiredFinalPos"].as>()}; + desiredPos = Eigen::Map(desiredPosInput.data(), desiredPosInput.size()); + } + + std::cout << "desired pos: " << desiredPos << std::endl; + + controlJointDOF0 = params["controlJointDOF0"].as(); weight[0] = params["w1"].as(); weight[1] = params["w2"].as(); @@ -26,6 +38,7 @@ Params::Params(const mjModel *model_) : model(model_) N = (int)floor(tf / tc); ndpc = (int)floor(tc / dt); // read model parameters + // read model parameters nu = model->nu; nv = model->nv; quatAdr = new int[nv]; diff --git a/src/cito/penalty_loop.cpp b/src/cito/penalty_loop.cpp index 20a60ff..5e2c94d 100644 --- a/src/cito/penalty_loop.cpp +++ b/src/cito/penalty_loop.cpp @@ -157,7 +157,6 @@ eigMd PenaltyLoop::solve(const eigMd &U0) { iter++; std::cout << "\n\tPenalty iteration " << iter << " completed. Press any key to continue...\n"; - std::cin.ignore(); } } return UOpt; diff --git a/src/cito/scvx.cpp b/src/cito/scvx.cpp index b004588..f54b925 100644 --- a/src/cito/scvx.cpp +++ b/src/cito/scvx.cpp @@ -29,6 +29,8 @@ SCVX::SCVX(const mjModel *m_, Params *cp_, Control *cc_) : m(m_), cp(cp_), cc(cc rho = new double[maxIter + 1]; r = new double[maxIter + 1]; accept = new bool[maxIter]; + time_derivs = new double[maxIter]; + time_qp = new double[maxIter]; // set initial trust-region radius r[0] = r0; // set bounds @@ -87,6 +89,20 @@ trajectory SCVX::runSimulation(const eigMd &U, bool linearize, int save, double mju_copy(d->qpos, m->key_qpos, m->nq); mj_forward(m, d); cc->setControl(d, U.col(0), compensateBias); + + std::vector jerkThresholds = {0.1, 0.1}; + std::vector velChange_thresholds = {0.1, 0.1}; + derivative_interpolator interpolator = {"set_interval", 2, 0, jerkThresholds, velChange_thresholds, 0}; +// derivative_interpolator baseline = {"set_interval", 1, 0, jerkThresholds, velChange_thresholds, 0}; + std::vector keypoints = nd.generateKeypoints(interpolator, XSucc, cp->N - 1); +// std::vector baseline_keypoints = nd.generateKeypoints(baseline, XSucc, cp->N - 1); + + for(int i = 0; i < keypoints.size(); i++){ + std::cout << keypoints[i] << " "; + } + std::cout << std::endl; + + int keypoint_counter = 0; // rollout (and linearize) the dynamics for (int i = 0; i < cp->N; i++) { @@ -99,11 +115,72 @@ trajectory SCVX::runSimulation(const eigMd &U, bool linearize, int save, double { Fx[i].setZero(); Fu[i].setZero(); - nd.linDyn(d, U.col(i), Fx[i].data(), Fu[i].data(), compensateBias); + // Only linearize the dynamics when a keypoint is reached + if(i == keypoints[keypoint_counter]){ + keypoint_counter++; + nd.linDyn(d, U.col(i), Fx[i].data(), Fu[i].data(), compensateBias); + } } // take tc/dt steps cc->takeStep(d, U.col(i), save, compensateBias); } + + if (linearize) + { + nd.saveLinearisation("before", Fx, Fu, cp->N); + } + + if(linearize){ + if(!(interpolator.keyPoint_method == "set_interval" && interpolator.min_n == 1)){ + nd.interpolateDerivs(keypoints, Fx, Fu, cp->N); + } + } + + if (linearize) + { + nd.saveLinearisation("after", Fx, Fu, cp->N); + } + + // initialize d +// mju_copy(d->qpos, m->key_qpos, m->nq); +// mj_forward(m, d); +// cc->setControl(d, U.col(0), compensateBias); + + // -------------------- temp ----------------------------- +// keypoint_counter = 0; +// // rollout (and linearize) the dynamics +// for (int i = 0; i < cp->N; i++) +// { +// mj_forward(m, d); +// // get the current state values +// XSucc.col(i).setZero(); +// XSucc.col(i) = cp->getState(d); +// // linearization +// if (linearize) +// { +// Fx[i].setZero(); +// Fu[i].setZero(); +// // Only linearize the dynamics when a keypoint is reached +// if(i == baseline_keypoints[keypoint_counter]){ +// keypoint_counter++; +// nd.linDyn(d, U.col(i), Fx[i].data(), Fu[i].data(), compensateBias); +// } +// } +// // take tc/dt steps +// cc->takeStep(d, U.col(i), save, compensateBias); +// } +// +// // Interpolate the derivatives - unless the baseline case is used +// if(!(baseline.keyPoint_method == "set_interval" && baseline.min_n == 1)){ +// nd.interpolateDerivs(baseline_keypoints, Fx, Fu, cp->N); +// } +// +// // Save the linearisation +// if (linearize) +// { +// nd.saveLinearisation("baseline", Fx, Fu, cp->N); +// } + XSucc.col(cp->N).setZero(); XSucc.col(cp->N) = cp->getState(d); // delete data @@ -122,6 +199,7 @@ trajectory SCVX::runSimulation(const eigMd &U, bool linearize, int save, double // solveSCVX: executes the successive convexification algorithm eigMd SCVX::solveSCVX(const eigMd &U0) { + auto optStart = std::chrono::system_clock::now(); // initialize USucc for the first succession USucc = U0; // start the SCVX algorithm @@ -137,7 +215,12 @@ eigMd SCVX::solveSCVX(const eigMd &U0) trajS = {}; trajS = this->runSimulation(USucc, true, 0, 1); auto tDiffEnd = std::chrono::system_clock::now(); - std::cout << "INFO: convexification took " << std::chrono::duration(tDiffEnd - tDiffStart).count() << " s \n"; + auto tDiff = std::chrono::duration(tDiffEnd - tDiffStart).count(); + time_derivs[iter] = tDiff; + std::cout << "INFO: convexification took " << tDiff << " s \n"; + } + else{ + time_derivs[iter] = 0.0f; } // get the nonlinear cost if the first iteration if (iter == 0) @@ -151,7 +234,10 @@ eigMd SCVX::solveSCVX(const eigMd &U0) sq.solveCvx(dTraj, r[iter], trajS.X, USucc, trajS.Fx, trajS.Fu, cc->isJFree, cc->isAFree, cc->qposLB, cc->qposUB, cc->tauLB, cc->tauUB); auto tQPEnd = std::chrono::system_clock::now(); - std::cout << "\nINFO: QP solver took " << std::chrono::duration(tQPEnd - tQPStart).count() << " s \n\n"; + auto tQP = std::chrono::duration(tQPEnd - tQPStart).count(); + std::cout << "\nINFO: QP solver took " << tQP << " s \n\n"; + time_qp[iter] = tQP; + // apply the change for (int i = 0; i < cp->N + 1; i++) { @@ -249,12 +335,26 @@ eigMd SCVX::solveSCVX(const eigMd &U0) { if (i % 10 == 0) { - printf("%-12s%-12s%-12s%-12s%-12s%-12s%-12s%-12s\n", - "Iteration", "L", "J", "dL", "dJ", "rho", "r", "accept"); + printf("%-12s%-12s%-12s%-12s%-12s%-12s%-12s%-12s%-12s%-12s\n", + "Iteration", "L", "J", "dL", "dJ", "rho", "r", "accept", "derivs time", "qp time"); } - printf("%-12d%-12.6g%-12.6g%-12.3g%-12.3g%-12.3g%-12.3g%-12d\n", - i + 1, JTilde[i], JTemp[i], dL[i], dJ[i], rho[i], r[i], accept[i]); + printf("%-12d%-12.6g%-12.6g%-12.3g%-12.3g%-12.3g%-12.3g%-12d%-12.6g%-12.6g\n", + i + 1, JTilde[i], JTemp[i], dL[i], dJ[i], rho[i], r[i], accept[i], time_derivs[i], time_qp[i]); + } + + optTime = 0.0f; + derivsTime = 0.0f; + qpTime = 0.0f; + costReduction = 1 - (J[iter - 1]) / J[0]; + + for(int i = 0; i < iter; i++){ + derivsTime += time_derivs[i]; + qpTime += time_qp[i]; + optTime += time_derivs[i] + time_qp[i]; } + std::cout << "\n\nOptimization time: " << optTime << " seconds\n\n"; + std::cout << "Derivatives time: " << derivsTime << " seconds\n\n"; + std::cout << "QP time: " << qpTime << " seconds\n\n"; return USucc; } @@ -270,6 +370,8 @@ void SCVX::refresh() delete[] rho; delete[] r; delete[] accept; + delete[] time_derivs; + delete[] time_qp; // create new variables J = new double[maxIter + 1]; JTemp = new double[maxIter + 1]; @@ -279,6 +381,8 @@ void SCVX::refresh() rho = new double[maxIter + 1]; r = new double[maxIter + 1]; accept = new bool[maxIter]; + time_derivs = new double[maxIter]; + time_qp = new double[maxIter]; // set initial trust-region radius r[0] = r0; // reset flags diff --git a/src/cito/sqopt.cpp b/src/cito/sqopt.cpp index 8a7154b..d70355b 100644 --- a/src/cito/sqopt.cpp +++ b/src/cito/sqopt.cpp @@ -50,6 +50,8 @@ SQOPT::SQOPT(const mjModel *m_, Params *cp_) : m(m_), cp(cp_) cvxProb.initialize("", 1); cvxProb.setProbName("SubQP"); cvxProb.setIntParameter("Print level", 0); + cvxProb.setIntParameter("Major Print level", 0); + cvxProb.setIntParameter("Minor Print level", 0); // set the weights lenru = 4; // number of weights ru = cp->weight; diff --git a/src/composeTestingData.py b/src/composeTestingData.py new file mode 100644 index 0000000..79979e7 --- /dev/null +++ b/src/composeTestingData.py @@ -0,0 +1,103 @@ +# This python file needs to loop through testing folders and creat ssingle csv file for each method + +import os +import numpy as np +import matplotlib.pyplot as plt + +def main(): + num_trajecs = 100 + methods = ["baseline", "SI2"] + labels = ["optTime", "costReduction", "derivsTime", "qpTime"] + + data = np.zeros((num_trajecs, len(labels) * len(methods))) + + + + for i in range(len(methods)): + for j in range(num_trajecs): + + # root = "home/davidrussell/cito_ws/src/cito/src" + file_name = "../testingData/data/" + methods[i] + "/" + str(j) + ".csv" + tempData = np.genfromtxt(file_name, delimiter=",") + + data[j, i * len(labels) : (i + 1) * len(labels)] = tempData + + print(data) + + + optTimes = np.zeros((num_trajecs, len(methods))) + costReductions = np.zeros((num_trajecs, len(methods))) + + for i in range(len(methods)): + optTimes[:, i] = data[:, i * len(labels)] + costReductions[:, i] = data[:, i * len(labels) + 1] + + fig, axes = plt.subplots(2, 1, figsize = (18,8)) + boxPlotTitle = "Average percentage calculated derivatives against interpolation methods " + "panda_pushing_clutter" + yAxisLabel = "Average percentage calculate derivatives" + orange = "#edb83b" + bp3 = box_plot(avgPercentageDerivs, orange, yAxisLabel, axes[0], labels, False) + + boxPlotTitle = "average time getting derivatives against interpolation methods " + "panda_pushing_clutter" + yAxisLabel = "Average time getting derivatives (ms)" + orange = "#edb83b" + bp4 = box_plot(avgTimeGettingDerivs, orange, yAxisLabel, axes[1], labels) + fig.suptitle(taskName + " - derivative information", fontsize=16) + + # Save data to new csv file + np.savetxt("../testingData/data.csv", data, delimiter=",") + +def box_plot(data, fill_color, yAxisTitle, ax, labels, logyAxis = False, baseline_yLine = False): + normalPosterColour = "#103755" + highlightPosterColor = "#EEF30D" + + + bp = ax.boxplot(data, patch_artist=True, meanprops={"marker":"s","markerfacecolor":highlightPosterColor, "markeredgecolor":highlightPosterColor}, showmeans=True, showfliers=False) + if logyAxis: + ax.set_yscale('log') + black = "#1c1b1a" + + for element in ['medians']: + plt.setp(bp[element], color=black) + + for element in ['means']: + plt.setp(bp[element], color=highlightPosterColor) + # element.set(color="#a808c4") + + # for bpMean in bp['means']: + # bpMean.set(color="#a808c4") + + # for element in ['boxes', 'whiskers', 'fliers', 'means', 'medians', 'caps']: + # plt.setp(bp[element], color=black) + + + dynamicColor = "#ff8400" + baselineColor = "#0057c9" + setIntervalColour = "#9d00c9" + backgroundColour = "#d6d6d6" + + + index = 0 + for patch in bp['boxes']: + patch.set(facecolor=normalPosterColour) + + labelSize = 11 + + ax.set_ylabel(yAxisTitle, fontsize=labelSize) + + if(baseline_yLine): + ax.axhline(y=0, color=baselineColor, linewidth=1.5, alpha=0.5) + + xticks = [] + for i in range(len(labels)): + xticks.append(i + 1) + + ax.set_xticks(xticks) + ax.set_xticklabels(labels, fontsize=11) + + return bp + + + +if __name__ == "__main__": + main() diff --git a/src/generateRandomScenes.py b/src/generateRandomScenes.py new file mode 100644 index 0000000..1247c17 --- /dev/null +++ b/src/generateRandomScenes.py @@ -0,0 +1,30 @@ +import numpy as np + +def save_scene(X_desired, file_number): + # X_desired is a 1D numpy array + # file_number is an integer + + # Save scene to yaml file + file_name = "scenes/" + str(file_number) + ".yaml" + with open(file_name, 'w') as f: + f.write("desiredFinalPos: " + str(X_desired) + "\n") + + +if __name__ == "__main__": + num_scenes = 100 + save_location = "data/scenes/" + + desiredFinalPos: [1.3, 0, 0.0646922, 0.0, 0.0, 0.0] + + lower_x = 1.2 + upper_x = 1.4 + lower_y = -0.1 + upper_y = 0.1 + + for i in range(num_scenes): + x = np.random.uniform(lower_x, upper_x) + y = np.random.uniform(lower_y, upper_y) + + desiredFinalPos = [x, y, 0.0646922, 0.0, 0.0, 0.0] + + save_scene(desiredFinalPos, i) \ No newline at end of file diff --git a/src/main.cpp b/src/main.cpp index 4f770bc..7a73ae4 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -12,10 +12,14 @@ int main(int argc, char const *argv[]) { + int testNumber = -1; + std::string keypoint_method = "SI2"; + for(int i = 1; i < argc; i++){ + testNumber = std::stoi(argv[i]); + } + std::cout << "test number: " << testNumber << "\n"; + // ***** MuJoCo initialization ***********************************************/ - // Activate MuJoCo - const char *mjKeyPath = std::getenv("MJ_KEY"); - mj_activate(mjKeyPath); // Model file YAML::Node params = YAML::LoadFile(paths::workspaceDir + "/src/cito/config/params.yaml"); std::string modelPathStr = paths::workspaceDir + "/src/cito/model/" + params["model"].as(); @@ -36,7 +40,7 @@ int main(int argc, char const *argv[]) mju_error("Cannot load the model"); } // ***** Create objects for CITO *********************************************/ - Params cp(m); + Params cp(m, testNumber); Control cc(m, &cp); SCVX scvx(m, &cp, &cc); PenaltyLoop pl(m, &cp, &cc, &scvx); @@ -68,24 +72,47 @@ int main(int argc, char const *argv[]) // ***** Evaluate the optimal trajectory *************************************/ traj = scvx.runSimulation(U, false, 2, 1); // Print the trajectory - std::cout << "\n\nOptimal trajectory:\n"; - for (int i = 0; i < cp.N; i++) - { - std::cout << "time step " << i << ":\n\t\tpos = " << traj.X.col(i).head(m->nv).transpose() << "\n"; - std::cout << "\t\t vel = " << traj.X.col(i).tail(m->nv).transpose() << "\n"; - std::cout << "\t\t tau = "; - std::cout << traj.U.col(i).head(m->nu).transpose() << "\n"; - std::cout << "\t\t KCon = "; - std::cout << traj.U.col(i).tail(cp.nPair).transpose() << "\n\n"; - } - std::cout << "time step " << cp.N << ":\n\t\tpos = " << traj.X.col(cp.N).head(m->nv).transpose() << "\n"; - std::cout << "\t\t vel = " << traj.X.col(cp.N).tail(m->nv).transpose() << "\n"; +// std::cout << "\n\nOptimal trajectory:\n"; +// for (int i = 0; i < cp.N; i++) +// { +// std::cout << "time step " << i << ":\n\t\tpos = " << traj.X.col(i).head(m->nv).transpose() << "\n"; +// std::cout << "\t\t vel = " << traj.X.col(i).tail(m->nv).transpose() << "\n"; +// std::cout << "\t\t tau = "; +// std::cout << traj.U.col(i).head(m->nu).transpose() << "\n"; +// std::cout << "\t\t KCon = "; +// std::cout << traj.U.col(i).tail(cp.nPair).transpose() << "\n\n"; +// } +// std::cout << "time step " << cp.N << ":\n\t\tpos = " << traj.X.col(cp.N).head(m->nv).transpose() << "\n"; +// std::cout << "\t\t vel = " << traj.X.col(cp.N).tail(m->nv).transpose() << "\n"; // ***** Evaluate the optimal const ******************************************/ double J = scvx.getCost(traj.X, traj.U); std::cout << "\nJ = " << J << ", kmax = " << U.bottomRows(cp.nPair).maxCoeff() << "\n\nINFO: Planning completed in " << std::chrono::duration(tPlanEnd - tPlanStart).count() << " wall-clock s and " << 1000.0 * (cpuPlanEnd - cpuPlanStart) / CLOCKS_PER_SEC << " CPU ms.\n\n"; // ***** MuJoCo shut down ****************************************************/ mj_deleteModel(m); - mj_deactivate(); + + // Save the testing data to the correct folder + double costReduction = scvx.costReduction; + double optTime = scvx.optTime; + double derivsTime = scvx.derivsTime; + double qpTime = scvx.qpTime; + + if(testNumber != -1){ + std::string testDir = paths::workspaceDir + "/src/cito/testingData/data/" + keypoint_method + "/"; + + // Open a csv file and save the data + std::ofstream csvFile; + std::string file_name = testDir + std::to_string(testNumber) + ".csv"; + std::cout << "filename: " << file_name << "\n"; + csvFile.open(testDir + std::to_string(testNumber) + ".csv"); + + // Save the data - cost reduction, opt time, derivs time, qp time + csvFile << optTime << ","; + csvFile << costReduction << ","; + csvFile << derivsTime << ","; + csvFile << qpTime << "\n"; + + } + return 0; } diff --git a/src/playlog.cpp b/src/playlog.cpp index 0cc7f3d..2752139 100644 --- a/src/playlog.cpp +++ b/src/playlog.cpp @@ -1,7 +1,7 @@ #include -#include "mujoco.h" -#include "glfw3.h" +#include "mujoco/mujoco.h" +#include "GLFW/glfw3.h" #include "cito/params.h" @@ -176,9 +176,6 @@ void setFrame(void) /// load model, init simulation and rendering void initMuJoCo(const char *modelFilePath, const char *logFilePath) { - // activate MuJoCo license - const char *mjKeyPath = std::getenv("MJ_KEY"); - mj_activate(mjKeyPath); // load and compile model if (strlen(modelFilePath) > 4 && !strcmp(modelFilePath + strlen(modelFilePath) - 4, ".mjb")) m = mj_loadModel(modelFilePath, NULL); @@ -732,12 +729,12 @@ void render(GLFWwindow *window) mjLABELSTRING[vopt.label]); // print the current state - std::cout << "t: " << d->time << " s\n\tqpos: "; - for (int i = 0; i < m->nq; i++) - { - std::cout << d->qpos[i] << " "; - } - std::cout << std::endl; +// std::cout << "t: " << d->time << " s\n\tqpos: "; +// for (int i = 0; i < m->nq; i++) +// { +// std::cout << d->qpos[i] << " "; +// } +// std::cout << std::endl; // get current framebuffer rectangle mjrRect rectfull = {0, 0, 0, 0}; diff --git a/src/scenes/0.yaml b/src/scenes/0.yaml new file mode 100644 index 0000000..e45edc5 --- /dev/null +++ b/src/scenes/0.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.369565651441593, -0.06993765490654305, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/1.yaml b/src/scenes/1.yaml new file mode 100644 index 0000000..494e3c2 --- /dev/null +++ b/src/scenes/1.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2357648775273864, 0.09319863180428228, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/10.yaml b/src/scenes/10.yaml new file mode 100644 index 0000000..38a972e --- /dev/null +++ b/src/scenes/10.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2208998814515626, 0.08329312393095403, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/11.yaml b/src/scenes/11.yaml new file mode 100644 index 0000000..4723be1 --- /dev/null +++ b/src/scenes/11.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3352843446944471, -0.05694950696417694, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/12.yaml b/src/scenes/12.yaml new file mode 100644 index 0000000..a54ae69 --- /dev/null +++ b/src/scenes/12.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.390757255434166, 0.07735350962286669, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/13.yaml b/src/scenes/13.yaml new file mode 100644 index 0000000..3240700 --- /dev/null +++ b/src/scenes/13.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2525658662395225, -0.07828139950484803, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/14.yaml b/src/scenes/14.yaml new file mode 100644 index 0000000..48943af --- /dev/null +++ b/src/scenes/14.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3644537508000383, -0.07058038850067971, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/15.yaml b/src/scenes/15.yaml new file mode 100644 index 0000000..888a0d7 --- /dev/null +++ b/src/scenes/15.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2249938564617846, 0.06644524207593333, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/16.yaml b/src/scenes/16.yaml new file mode 100644 index 0000000..aedf912 --- /dev/null +++ b/src/scenes/16.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.280777214180908, 0.06091781937809407, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/17.yaml b/src/scenes/17.yaml new file mode 100644 index 0000000..97b6009 --- /dev/null +++ b/src/scenes/17.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2334149882507228, 0.056682673011841794, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/18.yaml b/src/scenes/18.yaml new file mode 100644 index 0000000..d41e46e --- /dev/null +++ b/src/scenes/18.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3705318158611461, 0.037971618516518396, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/19.yaml b/src/scenes/19.yaml new file mode 100644 index 0000000..71ec710 --- /dev/null +++ b/src/scenes/19.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3709448637449624, -0.05204009452753471, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/2.yaml b/src/scenes/2.yaml new file mode 100644 index 0000000..b28fdeb --- /dev/null +++ b/src/scenes/2.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2414768027396654, 0.042279569160882574, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/20.yaml b/src/scenes/20.yaml new file mode 100644 index 0000000..7e50a89 --- /dev/null +++ b/src/scenes/20.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3533299821750748, 0.09607292418624316, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/21.yaml b/src/scenes/21.yaml new file mode 100644 index 0000000..8ea0cce --- /dev/null +++ b/src/scenes/21.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.247529119795759, 0.06341470837911847, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/22.yaml b/src/scenes/22.yaml new file mode 100644 index 0000000..c41b292 --- /dev/null +++ b/src/scenes/22.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3782830173835916, -0.02344504823864768, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/23.yaml b/src/scenes/23.yaml new file mode 100644 index 0000000..23ecbf0 --- /dev/null +++ b/src/scenes/23.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2040070616007839, 0.026961906320912804, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/24.yaml b/src/scenes/24.yaml new file mode 100644 index 0000000..7940b09 --- /dev/null +++ b/src/scenes/24.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3300747825477943, 0.07388518530126237, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/25.yaml b/src/scenes/25.yaml new file mode 100644 index 0000000..2f19fb9 --- /dev/null +++ b/src/scenes/25.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2565325824784976, 0.07776136232566108, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/26.yaml b/src/scenes/26.yaml new file mode 100644 index 0000000..02710bb --- /dev/null +++ b/src/scenes/26.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2310406126355675, -0.08387139784692879, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/27.yaml b/src/scenes/27.yaml new file mode 100644 index 0000000..9c43cff --- /dev/null +++ b/src/scenes/27.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2642283865823944, -0.07336755637327584, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/28.yaml b/src/scenes/28.yaml new file mode 100644 index 0000000..d6d114c --- /dev/null +++ b/src/scenes/28.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2536058992961037, -0.045166542558886816, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/29.yaml b/src/scenes/29.yaml new file mode 100644 index 0000000..158c765 --- /dev/null +++ b/src/scenes/29.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3525172556920535, -0.09120418757769777, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/3.yaml b/src/scenes/3.yaml new file mode 100644 index 0000000..1c800db --- /dev/null +++ b/src/scenes/3.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3387576682652251, -0.02869641342334113, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/30.yaml b/src/scenes/30.yaml new file mode 100644 index 0000000..6c21b57 --- /dev/null +++ b/src/scenes/30.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.391228611116954, 0.010609145437046302, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/31.yaml b/src/scenes/31.yaml new file mode 100644 index 0000000..1a17bf5 --- /dev/null +++ b/src/scenes/31.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3255310146139294, -0.003791151118232333, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/32.yaml b/src/scenes/32.yaml new file mode 100644 index 0000000..d404a35 --- /dev/null +++ b/src/scenes/32.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3988746266981182, -0.021127521883671257, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/33.yaml b/src/scenes/33.yaml new file mode 100644 index 0000000..841772a --- /dev/null +++ b/src/scenes/33.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2686290446925423, 0.00047306061656901544, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/34.yaml b/src/scenes/34.yaml new file mode 100644 index 0000000..74d0eec --- /dev/null +++ b/src/scenes/34.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2288513071321974, -0.08275199895340071, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/35.yaml b/src/scenes/35.yaml new file mode 100644 index 0000000..a2e51e5 --- /dev/null +++ b/src/scenes/35.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2315876820928158, -0.05622180082448894, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/36.yaml b/src/scenes/36.yaml new file mode 100644 index 0000000..3bb4254 --- /dev/null +++ b/src/scenes/36.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2418390159230959, 0.054236959317339156, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/37.yaml b/src/scenes/37.yaml new file mode 100644 index 0000000..08ed8cf --- /dev/null +++ b/src/scenes/37.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2843943491637715, -0.08689789647456883, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/38.yaml b/src/scenes/38.yaml new file mode 100644 index 0000000..40a9cb0 --- /dev/null +++ b/src/scenes/38.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2558757445881061, 0.045293426761909894, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/39.yaml b/src/scenes/39.yaml new file mode 100644 index 0000000..b89cac4 --- /dev/null +++ b/src/scenes/39.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3966894739027793, -0.021410142775573, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/4.yaml b/src/scenes/4.yaml new file mode 100644 index 0000000..7d115b6 --- /dev/null +++ b/src/scenes/4.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3927218587075125, 0.0880998373281372, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/40.yaml b/src/scenes/40.yaml new file mode 100644 index 0000000..4253264 --- /dev/null +++ b/src/scenes/40.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2810776139711726, 0.05060249908296727, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/41.yaml b/src/scenes/41.yaml new file mode 100644 index 0000000..809afed --- /dev/null +++ b/src/scenes/41.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2785562968487174, -0.0025293378708629854, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/42.yaml b/src/scenes/42.yaml new file mode 100644 index 0000000..65d702a --- /dev/null +++ b/src/scenes/42.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3867108451486387, 0.09004442560301701, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/43.yaml b/src/scenes/43.yaml new file mode 100644 index 0000000..be00a1c --- /dev/null +++ b/src/scenes/43.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.339037529657978, -0.07161313274353301, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/44.yaml b/src/scenes/44.yaml new file mode 100644 index 0000000..93d487e --- /dev/null +++ b/src/scenes/44.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3199992942398606, 0.02167433845032292, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/45.yaml b/src/scenes/45.yaml new file mode 100644 index 0000000..ea7382c --- /dev/null +++ b/src/scenes/45.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2929441531119168, 0.07465637201194278, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/46.yaml b/src/scenes/46.yaml new file mode 100644 index 0000000..db0ab60 --- /dev/null +++ b/src/scenes/46.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.247412413363128, -0.045622269528462024, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/47.yaml b/src/scenes/47.yaml new file mode 100644 index 0000000..5ac32d5 --- /dev/null +++ b/src/scenes/47.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2854583565483215, -0.0052529519657686236, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/48.yaml b/src/scenes/48.yaml new file mode 100644 index 0000000..1ecaa2c --- /dev/null +++ b/src/scenes/48.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2063639703626712, -0.03517467328874076, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/49.yaml b/src/scenes/49.yaml new file mode 100644 index 0000000..18eb114 --- /dev/null +++ b/src/scenes/49.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3374712967302682, -0.014499209203217192, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/5.yaml b/src/scenes/5.yaml new file mode 100644 index 0000000..316a0c0 --- /dev/null +++ b/src/scenes/5.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2582070366999532, -0.08970158918483065, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/50.yaml b/src/scenes/50.yaml new file mode 100644 index 0000000..85997aa --- /dev/null +++ b/src/scenes/50.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2848959052939393, -0.08139483995206825, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/51.yaml b/src/scenes/51.yaml new file mode 100644 index 0000000..07ac080 --- /dev/null +++ b/src/scenes/51.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.381849482930422, 0.005962964564556056, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/52.yaml b/src/scenes/52.yaml new file mode 100644 index 0000000..ac244bb --- /dev/null +++ b/src/scenes/52.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2074020850418263, 0.09068412134377926, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/53.yaml b/src/scenes/53.yaml new file mode 100644 index 0000000..7a570bb --- /dev/null +++ b/src/scenes/53.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.31117729470586, -0.01791655041312286, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/54.yaml b/src/scenes/54.yaml new file mode 100644 index 0000000..3a4076b --- /dev/null +++ b/src/scenes/54.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3575674005279201, 0.039941439773019866, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/55.yaml b/src/scenes/55.yaml new file mode 100644 index 0000000..1419c57 --- /dev/null +++ b/src/scenes/55.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.353051144923522, -0.051719520244709716, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/56.yaml b/src/scenes/56.yaml new file mode 100644 index 0000000..28811a8 --- /dev/null +++ b/src/scenes/56.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3360589134758223, -0.04262872732965764, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/57.yaml b/src/scenes/57.yaml new file mode 100644 index 0000000..92bbc76 --- /dev/null +++ b/src/scenes/57.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2737083621419472, -0.008247862390193011, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/58.yaml b/src/scenes/58.yaml new file mode 100644 index 0000000..16764ad --- /dev/null +++ b/src/scenes/58.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2559205375750921, 0.04460922763665584, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/59.yaml b/src/scenes/59.yaml new file mode 100644 index 0000000..9118844 --- /dev/null +++ b/src/scenes/59.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.364254719617265, 0.027634921643984844, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/6.yaml b/src/scenes/6.yaml new file mode 100644 index 0000000..5551997 --- /dev/null +++ b/src/scenes/6.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3512008041356773, -0.03046366301887464, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/60.yaml b/src/scenes/60.yaml new file mode 100644 index 0000000..7be13c6 --- /dev/null +++ b/src/scenes/60.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2883258075623245, 0.026980283352344314, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/61.yaml b/src/scenes/61.yaml new file mode 100644 index 0000000..8ebf941 --- /dev/null +++ b/src/scenes/61.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3404808456859287, 0.041466223890337495, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/62.yaml b/src/scenes/62.yaml new file mode 100644 index 0000000..48222ef --- /dev/null +++ b/src/scenes/62.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2175495501229883, 0.09602233329714263, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/63.yaml b/src/scenes/63.yaml new file mode 100644 index 0000000..ec011e8 --- /dev/null +++ b/src/scenes/63.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2628479648899082, 0.014604889149457054, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/64.yaml b/src/scenes/64.yaml new file mode 100644 index 0000000..bc5e666 --- /dev/null +++ b/src/scenes/64.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2582322475065493, -0.08696252469104421, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/65.yaml b/src/scenes/65.yaml new file mode 100644 index 0000000..8138bea --- /dev/null +++ b/src/scenes/65.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2874797613566633, -0.0548143156764354, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/66.yaml b/src/scenes/66.yaml new file mode 100644 index 0000000..a78e0b4 --- /dev/null +++ b/src/scenes/66.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.335910077382053, -0.07101573846718551, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/67.yaml b/src/scenes/67.yaml new file mode 100644 index 0000000..f19f426 --- /dev/null +++ b/src/scenes/67.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3510052164123902, 0.0781032426814939, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/68.yaml b/src/scenes/68.yaml new file mode 100644 index 0000000..2585729 --- /dev/null +++ b/src/scenes/68.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3882875785673805, -0.0561074406493322, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/69.yaml b/src/scenes/69.yaml new file mode 100644 index 0000000..1130dac --- /dev/null +++ b/src/scenes/69.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2581482454735595, -0.07790096492143966, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/7.yaml b/src/scenes/7.yaml new file mode 100644 index 0000000..fbe4afc --- /dev/null +++ b/src/scenes/7.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.279291739467956, -0.0853970527850204, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/70.yaml b/src/scenes/70.yaml new file mode 100644 index 0000000..4f639ad --- /dev/null +++ b/src/scenes/70.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.214793515260638, -0.06803877881429432, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/71.yaml b/src/scenes/71.yaml new file mode 100644 index 0000000..d37c584 --- /dev/null +++ b/src/scenes/71.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3062638265728104, 0.017168955556904092, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/72.yaml b/src/scenes/72.yaml new file mode 100644 index 0000000..0d62703 --- /dev/null +++ b/src/scenes/72.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2322011339888734, -0.06652480544870387, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/73.yaml b/src/scenes/73.yaml new file mode 100644 index 0000000..cce6274 --- /dev/null +++ b/src/scenes/73.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3468043130273852, -0.021462760505023756, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/74.yaml b/src/scenes/74.yaml new file mode 100644 index 0000000..f51bb64 --- /dev/null +++ b/src/scenes/74.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2281422760020113, -0.05202850394393271, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/75.yaml b/src/scenes/75.yaml new file mode 100644 index 0000000..342369f --- /dev/null +++ b/src/scenes/75.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3314450939963234, -0.024195267895020425, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/76.yaml b/src/scenes/76.yaml new file mode 100644 index 0000000..3647d53 --- /dev/null +++ b/src/scenes/76.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.348769715024153, 0.013935675457240393, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/77.yaml b/src/scenes/77.yaml new file mode 100644 index 0000000..c85cf75 --- /dev/null +++ b/src/scenes/77.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.390573609067704, -0.022709893944463905, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/78.yaml b/src/scenes/78.yaml new file mode 100644 index 0000000..1ca54f9 --- /dev/null +++ b/src/scenes/78.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3382690220836948, 0.043279404737355615, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/79.yaml b/src/scenes/79.yaml new file mode 100644 index 0000000..cf44dde --- /dev/null +++ b/src/scenes/79.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2374488354585431, -0.08717789023787688, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/8.yaml b/src/scenes/8.yaml new file mode 100644 index 0000000..ea0217b --- /dev/null +++ b/src/scenes/8.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2602595551917282, -0.09164756782056137, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/80.yaml b/src/scenes/80.yaml new file mode 100644 index 0000000..7e47f52 --- /dev/null +++ b/src/scenes/80.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2788110030219664, 0.032241821408085375, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/81.yaml b/src/scenes/81.yaml new file mode 100644 index 0000000..8f26421 --- /dev/null +++ b/src/scenes/81.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3785269766729442, -0.04911820067078246, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/82.yaml b/src/scenes/82.yaml new file mode 100644 index 0000000..998b704 --- /dev/null +++ b/src/scenes/82.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.281992303009654, 0.06737586289705308, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/83.yaml b/src/scenes/83.yaml new file mode 100644 index 0000000..8f465b9 --- /dev/null +++ b/src/scenes/83.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3193635382700166, -0.05552394750301024, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/84.yaml b/src/scenes/84.yaml new file mode 100644 index 0000000..d9583c0 --- /dev/null +++ b/src/scenes/84.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2053401946803746, -0.053770990655656895, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/85.yaml b/src/scenes/85.yaml new file mode 100644 index 0000000..ead6a40 --- /dev/null +++ b/src/scenes/85.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.293490521946924, 0.07905862680634224, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/86.yaml b/src/scenes/86.yaml new file mode 100644 index 0000000..a166ffa --- /dev/null +++ b/src/scenes/86.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2919205752156073, 0.01968176060061408, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/87.yaml b/src/scenes/87.yaml new file mode 100644 index 0000000..5d175bb --- /dev/null +++ b/src/scenes/87.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2836058672038735, 0.07892657665720948, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/88.yaml b/src/scenes/88.yaml new file mode 100644 index 0000000..9514392 --- /dev/null +++ b/src/scenes/88.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.351879195525528, -0.03567569068511474, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/89.yaml b/src/scenes/89.yaml new file mode 100644 index 0000000..3fc698f --- /dev/null +++ b/src/scenes/89.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.232080508042113, -0.017058082455388507, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/9.yaml b/src/scenes/9.yaml new file mode 100644 index 0000000..1dc95b7 --- /dev/null +++ b/src/scenes/9.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3778999618644192, 0.037675798039630226, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/90.yaml b/src/scenes/90.yaml new file mode 100644 index 0000000..0c3e31e --- /dev/null +++ b/src/scenes/90.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2642709809891262, 0.02408067720180533, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/91.yaml b/src/scenes/91.yaml new file mode 100644 index 0000000..9e472ff --- /dev/null +++ b/src/scenes/91.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3239376156413236, 0.0609747866476969, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/92.yaml b/src/scenes/92.yaml new file mode 100644 index 0000000..b9616a0 --- /dev/null +++ b/src/scenes/92.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2966092620911938, -0.04565133127186494, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/93.yaml b/src/scenes/93.yaml new file mode 100644 index 0000000..e2eb85e --- /dev/null +++ b/src/scenes/93.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2468520639886453, -0.0610367899091423, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/94.yaml b/src/scenes/94.yaml new file mode 100644 index 0000000..6a1b625 --- /dev/null +++ b/src/scenes/94.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2072834231273806, -0.03111940307458004, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/95.yaml b/src/scenes/95.yaml new file mode 100644 index 0000000..ac6c4ab --- /dev/null +++ b/src/scenes/95.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2690991548807458, 0.08877271220846167, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/96.yaml b/src/scenes/96.yaml new file mode 100644 index 0000000..7cd7e4b --- /dev/null +++ b/src/scenes/96.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2730513181803873, -0.0805969571288942, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/97.yaml b/src/scenes/97.yaml new file mode 100644 index 0000000..4eab7a0 --- /dev/null +++ b/src/scenes/97.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3064422004918477, -0.09402318019449513, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/98.yaml b/src/scenes/98.yaml new file mode 100644 index 0000000..18584df --- /dev/null +++ b/src/scenes/98.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2137394064914466, -0.04528377697017492, 0.0646922, 0.0, 0.0, 0.0] diff --git a/src/scenes/99.yaml b/src/scenes/99.yaml new file mode 100644 index 0000000..8df4478 --- /dev/null +++ b/src/scenes/99.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3136739760472553, -0.04444092681698264, 0.0646922, 0.0, 0.0, 0.0] diff --git a/test/fcl_funcs.cpp b/test/fcl_funcs.cpp index b58e781..483afdf 100644 --- a/test/fcl_funcs.cpp +++ b/test/fcl_funcs.cpp @@ -64,9 +64,6 @@ int main(int argc, char* argv[]) "\tabs error: " << distReq.abs_err << "\n" << "\trel error: " << distReq.rel_err << "\n\n"; - // Activate MuJoCo - char* mjKeyPath = std::getenv("MJ_KEY"); - mj_activate(mjKeyPath); // MuJoCo model and data mjModel *m = NULL; mjData *d = NULL; @@ -85,7 +82,7 @@ int main(int argc, char* argv[]) // Evaluate the forward dynamics mj_forward(m, d); // Parse parameters from the model and the params file - Params cp(m); + Params cp(m, -1); // Create collision geometries and objects from the model std::unordered_map fclObjects; @@ -179,5 +176,4 @@ int main(int argc, char* argv[]) delete coll_objs[i]; mj_deleteData(d); mj_deleteModel(m); - mj_deactivate(); } \ No newline at end of file diff --git a/test/test_cito.cpp b/test/test_cito.cpp index 3a79c87..5300abd 100644 --- a/test/test_cito.cpp +++ b/test/test_cito.cpp @@ -4,7 +4,6 @@ // MuJoCo model and data mjModel *m = NULL; mjData *d = NULL; -int mj_activated = 0; // YAML file for parameters YAML::Node params; @@ -12,7 +11,6 @@ YAML::Node params; // Assert model and data are not empty TEST(CitoTests, test_mujoco_init) { - ASSERT_TRUE(mj_activated > 0); ASSERT_TRUE(m != NULL); ASSERT_TRUE(d != NULL); } @@ -111,9 +109,6 @@ int main(int argc, char **argv) const char *modelPath = modelPathStr.c_str(); std::cout << "\n\nModel path: " << modelPath << "\n\n\n"; - // Activate MuJoCo - const char *mjKeyPath = std::getenv("MJ_KEY"); - mj_activated = mj_activate(mjKeyPath); // Load the model if (strlen(modelPath) > 4 && !strcmp(modelPath + strlen(modelPath) - 4, ".mjb")) { diff --git a/testingData/data.csv b/testingData/data.csv new file mode 100644 index 0000000..7723e4a --- /dev/null +++ b/testingData/data.csv @@ -0,0 +1,100 @@ 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+2.22178,0.941212,1.71039,0.511388 diff --git a/testingData/data/baseline/88.csv b/testingData/data/baseline/88.csv new file mode 100644 index 0000000..d298973 --- /dev/null +++ b/testingData/data/baseline/88.csv @@ -0,0 +1 @@ +9.07827,0.999801,2.42842,6.64985 diff --git a/testingData/data/baseline/89.csv b/testingData/data/baseline/89.csv new file mode 100644 index 0000000..4b0d7d6 --- /dev/null +++ b/testingData/data/baseline/89.csv @@ -0,0 +1 @@ +6.2646,0.985834,3.32478,2.93982 diff --git a/testingData/data/baseline/9.csv b/testingData/data/baseline/9.csv new file mode 100644 index 0000000..46989fd --- /dev/null +++ b/testingData/data/baseline/9.csv @@ -0,0 +1 @@ +15.4273,0.996975,3.5235,11.9038 diff --git a/testingData/data/baseline/90.csv b/testingData/data/baseline/90.csv new file mode 100644 index 0000000..fad2341 --- /dev/null +++ b/testingData/data/baseline/90.csv @@ -0,0 +1 @@ +2.14107,0.959285,1.65136,0.489712 diff --git a/testingData/data/baseline/91.csv b/testingData/data/baseline/91.csv new file mode 100644 index 0000000..a60caf5 --- /dev/null +++ b/testingData/data/baseline/91.csv @@ -0,0 +1 @@ +2.2446,0.918886,1.67646,0.568143 diff --git a/testingData/data/baseline/92.csv b/testingData/data/baseline/92.csv new file mode 100644 index 0000000..dd9fc06 --- /dev/null +++ b/testingData/data/baseline/92.csv @@ -0,0 +1 @@ +2.30181,0.938576,1.66291,0.638897 diff --git a/testingData/data/baseline/93.csv b/testingData/data/baseline/93.csv new file mode 100644 index 0000000..4988bd9 --- /dev/null +++ b/testingData/data/baseline/93.csv @@ -0,0 +1 @@ +2.27393,0.962889,1.64292,0.631009 diff --git a/testingData/data/baseline/94.csv b/testingData/data/baseline/94.csv new file mode 100644 index 0000000..7d7a4cd --- /dev/null +++ b/testingData/data/baseline/94.csv @@ -0,0 +1 @@ +3.06097,0.982127,2.09252,0.968451 diff --git a/testingData/data/baseline/95.csv b/testingData/data/baseline/95.csv new file mode 100644 index 0000000..d5ad7b1 --- /dev/null +++ b/testingData/data/baseline/95.csv @@ -0,0 +1 @@ +10.4676,0.977018,3.42446,7.04316 diff --git a/testingData/data/baseline/96.csv b/testingData/data/baseline/96.csv new file mode 100644 index 0000000..bf97e20 --- /dev/null +++ b/testingData/data/baseline/96.csv @@ -0,0 +1 @@ +9.50163,0.971778,2.63646,6.86517 diff --git a/testingData/data/baseline/97.csv b/testingData/data/baseline/97.csv new file mode 100644 index 0000000..21e8261 --- /dev/null +++ b/testingData/data/baseline/97.csv @@ -0,0 +1 @@ +10.2252,0.985796,2.46609,7.75914 diff --git a/testingData/data/baseline/98.csv b/testingData/data/baseline/98.csv new file mode 100644 index 0000000..03b0238 --- /dev/null +++ b/testingData/data/baseline/98.csv @@ -0,0 +1 @@ +2.91224,0.978444,2.10982,0.802417 diff --git a/testingData/data/baseline/99.csv b/testingData/data/baseline/99.csv new file mode 100644 index 0000000..d31ddce --- /dev/null +++ b/testingData/data/baseline/99.csv @@ -0,0 +1 @@ +2.25947,0.927647,1.66134,0.598138 diff --git a/testingData/scenes/0.yaml b/testingData/scenes/0.yaml new file mode 100644 index 0000000..e45edc5 --- /dev/null +++ b/testingData/scenes/0.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.369565651441593, -0.06993765490654305, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/1.yaml b/testingData/scenes/1.yaml new file mode 100644 index 0000000..494e3c2 --- /dev/null +++ b/testingData/scenes/1.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2357648775273864, 0.09319863180428228, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/10.yaml b/testingData/scenes/10.yaml new file mode 100644 index 0000000..38a972e --- /dev/null +++ b/testingData/scenes/10.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2208998814515626, 0.08329312393095403, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/11.yaml b/testingData/scenes/11.yaml new file mode 100644 index 0000000..4723be1 --- /dev/null +++ b/testingData/scenes/11.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3352843446944471, -0.05694950696417694, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/12.yaml b/testingData/scenes/12.yaml new file mode 100644 index 0000000..a54ae69 --- /dev/null +++ b/testingData/scenes/12.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.390757255434166, 0.07735350962286669, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/13.yaml b/testingData/scenes/13.yaml new file mode 100644 index 0000000..3240700 --- /dev/null +++ b/testingData/scenes/13.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2525658662395225, -0.07828139950484803, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/14.yaml b/testingData/scenes/14.yaml new file mode 100644 index 0000000..48943af --- /dev/null +++ b/testingData/scenes/14.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3644537508000383, -0.07058038850067971, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/15.yaml b/testingData/scenes/15.yaml new file mode 100644 index 0000000..888a0d7 --- /dev/null +++ b/testingData/scenes/15.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2249938564617846, 0.06644524207593333, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/16.yaml b/testingData/scenes/16.yaml new file mode 100644 index 0000000..aedf912 --- /dev/null +++ b/testingData/scenes/16.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.280777214180908, 0.06091781937809407, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/17.yaml b/testingData/scenes/17.yaml new file mode 100644 index 0000000..97b6009 --- /dev/null +++ b/testingData/scenes/17.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2334149882507228, 0.056682673011841794, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/18.yaml b/testingData/scenes/18.yaml new file mode 100644 index 0000000..d41e46e --- /dev/null +++ b/testingData/scenes/18.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3705318158611461, 0.037971618516518396, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/19.yaml b/testingData/scenes/19.yaml new file mode 100644 index 0000000..71ec710 --- /dev/null +++ b/testingData/scenes/19.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3709448637449624, -0.05204009452753471, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/2.yaml b/testingData/scenes/2.yaml new file mode 100644 index 0000000..b28fdeb --- /dev/null +++ b/testingData/scenes/2.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2414768027396654, 0.042279569160882574, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/20.yaml b/testingData/scenes/20.yaml new file mode 100644 index 0000000..7e50a89 --- /dev/null +++ b/testingData/scenes/20.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3533299821750748, 0.09607292418624316, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/21.yaml b/testingData/scenes/21.yaml new file mode 100644 index 0000000..8ea0cce --- /dev/null +++ b/testingData/scenes/21.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.247529119795759, 0.06341470837911847, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/22.yaml b/testingData/scenes/22.yaml new file mode 100644 index 0000000..c41b292 --- /dev/null +++ b/testingData/scenes/22.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3782830173835916, -0.02344504823864768, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/23.yaml b/testingData/scenes/23.yaml new file mode 100644 index 0000000..23ecbf0 --- /dev/null +++ b/testingData/scenes/23.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2040070616007839, 0.026961906320912804, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/24.yaml b/testingData/scenes/24.yaml new file mode 100644 index 0000000..7940b09 --- /dev/null +++ b/testingData/scenes/24.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3300747825477943, 0.07388518530126237, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/25.yaml b/testingData/scenes/25.yaml new file mode 100644 index 0000000..2f19fb9 --- /dev/null +++ b/testingData/scenes/25.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2565325824784976, 0.07776136232566108, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/26.yaml b/testingData/scenes/26.yaml new file mode 100644 index 0000000..02710bb --- /dev/null +++ b/testingData/scenes/26.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2310406126355675, -0.08387139784692879, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/27.yaml b/testingData/scenes/27.yaml new file mode 100644 index 0000000..9c43cff --- /dev/null +++ b/testingData/scenes/27.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2642283865823944, -0.07336755637327584, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/28.yaml b/testingData/scenes/28.yaml new file mode 100644 index 0000000..d6d114c --- /dev/null +++ b/testingData/scenes/28.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2536058992961037, -0.045166542558886816, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/29.yaml b/testingData/scenes/29.yaml new file mode 100644 index 0000000..158c765 --- /dev/null +++ b/testingData/scenes/29.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3525172556920535, -0.09120418757769777, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/3.yaml b/testingData/scenes/3.yaml new file mode 100644 index 0000000..1c800db --- /dev/null +++ b/testingData/scenes/3.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3387576682652251, -0.02869641342334113, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/30.yaml b/testingData/scenes/30.yaml new file mode 100644 index 0000000..6c21b57 --- /dev/null +++ b/testingData/scenes/30.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.391228611116954, 0.010609145437046302, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/31.yaml b/testingData/scenes/31.yaml new file mode 100644 index 0000000..1a17bf5 --- /dev/null +++ b/testingData/scenes/31.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3255310146139294, -0.003791151118232333, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/32.yaml b/testingData/scenes/32.yaml new file mode 100644 index 0000000..d404a35 --- /dev/null +++ b/testingData/scenes/32.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3988746266981182, -0.021127521883671257, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/33.yaml b/testingData/scenes/33.yaml new file mode 100644 index 0000000..841772a --- /dev/null +++ b/testingData/scenes/33.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2686290446925423, 0.00047306061656901544, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/34.yaml b/testingData/scenes/34.yaml new file mode 100644 index 0000000..74d0eec --- /dev/null +++ b/testingData/scenes/34.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2288513071321974, -0.08275199895340071, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/35.yaml b/testingData/scenes/35.yaml new file mode 100644 index 0000000..a2e51e5 --- /dev/null +++ b/testingData/scenes/35.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2315876820928158, -0.05622180082448894, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/36.yaml b/testingData/scenes/36.yaml new file mode 100644 index 0000000..3bb4254 --- /dev/null +++ b/testingData/scenes/36.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2418390159230959, 0.054236959317339156, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/37.yaml b/testingData/scenes/37.yaml new file mode 100644 index 0000000..08ed8cf --- /dev/null +++ b/testingData/scenes/37.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2843943491637715, -0.08689789647456883, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/38.yaml b/testingData/scenes/38.yaml new file mode 100644 index 0000000..40a9cb0 --- /dev/null +++ b/testingData/scenes/38.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2558757445881061, 0.045293426761909894, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/39.yaml b/testingData/scenes/39.yaml new file mode 100644 index 0000000..b89cac4 --- /dev/null +++ b/testingData/scenes/39.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3966894739027793, -0.021410142775573, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/4.yaml b/testingData/scenes/4.yaml new file mode 100644 index 0000000..7d115b6 --- /dev/null +++ b/testingData/scenes/4.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3927218587075125, 0.0880998373281372, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/40.yaml b/testingData/scenes/40.yaml new file mode 100644 index 0000000..4253264 --- /dev/null +++ b/testingData/scenes/40.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2810776139711726, 0.05060249908296727, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/41.yaml b/testingData/scenes/41.yaml new file mode 100644 index 0000000..809afed --- /dev/null +++ b/testingData/scenes/41.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2785562968487174, -0.0025293378708629854, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/42.yaml b/testingData/scenes/42.yaml new file mode 100644 index 0000000..65d702a --- /dev/null +++ b/testingData/scenes/42.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3867108451486387, 0.09004442560301701, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/43.yaml b/testingData/scenes/43.yaml new file mode 100644 index 0000000..be00a1c --- /dev/null +++ b/testingData/scenes/43.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.339037529657978, -0.07161313274353301, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/44.yaml b/testingData/scenes/44.yaml new file mode 100644 index 0000000..93d487e --- /dev/null +++ b/testingData/scenes/44.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3199992942398606, 0.02167433845032292, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/45.yaml b/testingData/scenes/45.yaml new file mode 100644 index 0000000..ea7382c --- /dev/null +++ b/testingData/scenes/45.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2929441531119168, 0.07465637201194278, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/46.yaml b/testingData/scenes/46.yaml new file mode 100644 index 0000000..db0ab60 --- /dev/null +++ b/testingData/scenes/46.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.247412413363128, -0.045622269528462024, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/47.yaml b/testingData/scenes/47.yaml new file mode 100644 index 0000000..5ac32d5 --- /dev/null +++ b/testingData/scenes/47.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2854583565483215, -0.0052529519657686236, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/48.yaml b/testingData/scenes/48.yaml new file mode 100644 index 0000000..1ecaa2c --- /dev/null +++ b/testingData/scenes/48.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2063639703626712, -0.03517467328874076, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/49.yaml b/testingData/scenes/49.yaml new file mode 100644 index 0000000..18eb114 --- /dev/null +++ b/testingData/scenes/49.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3374712967302682, -0.014499209203217192, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/5.yaml b/testingData/scenes/5.yaml new file mode 100644 index 0000000..316a0c0 --- /dev/null +++ b/testingData/scenes/5.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2582070366999532, -0.08970158918483065, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/50.yaml b/testingData/scenes/50.yaml new file mode 100644 index 0000000..85997aa --- /dev/null +++ b/testingData/scenes/50.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2848959052939393, -0.08139483995206825, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/51.yaml b/testingData/scenes/51.yaml new file mode 100644 index 0000000..07ac080 --- /dev/null +++ b/testingData/scenes/51.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.381849482930422, 0.005962964564556056, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/52.yaml b/testingData/scenes/52.yaml new file mode 100644 index 0000000..ac244bb --- /dev/null +++ b/testingData/scenes/52.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2074020850418263, 0.09068412134377926, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/53.yaml b/testingData/scenes/53.yaml new file mode 100644 index 0000000..7a570bb --- /dev/null +++ b/testingData/scenes/53.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.31117729470586, -0.01791655041312286, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/54.yaml b/testingData/scenes/54.yaml new file mode 100644 index 0000000..3a4076b --- /dev/null +++ b/testingData/scenes/54.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3575674005279201, 0.039941439773019866, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/55.yaml b/testingData/scenes/55.yaml new file mode 100644 index 0000000..1419c57 --- /dev/null +++ b/testingData/scenes/55.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.353051144923522, -0.051719520244709716, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/56.yaml b/testingData/scenes/56.yaml new file mode 100644 index 0000000..28811a8 --- /dev/null +++ b/testingData/scenes/56.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3360589134758223, -0.04262872732965764, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/57.yaml b/testingData/scenes/57.yaml new file mode 100644 index 0000000..92bbc76 --- /dev/null +++ b/testingData/scenes/57.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2737083621419472, -0.008247862390193011, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/58.yaml b/testingData/scenes/58.yaml new file mode 100644 index 0000000..16764ad --- /dev/null +++ b/testingData/scenes/58.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2559205375750921, 0.04460922763665584, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/59.yaml b/testingData/scenes/59.yaml new file mode 100644 index 0000000..9118844 --- /dev/null +++ b/testingData/scenes/59.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.364254719617265, 0.027634921643984844, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/6.yaml b/testingData/scenes/6.yaml new file mode 100644 index 0000000..5551997 --- /dev/null +++ b/testingData/scenes/6.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3512008041356773, -0.03046366301887464, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/60.yaml b/testingData/scenes/60.yaml new file mode 100644 index 0000000..7be13c6 --- /dev/null +++ b/testingData/scenes/60.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2883258075623245, 0.026980283352344314, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/61.yaml b/testingData/scenes/61.yaml new file mode 100644 index 0000000..8ebf941 --- /dev/null +++ b/testingData/scenes/61.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3404808456859287, 0.041466223890337495, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/62.yaml b/testingData/scenes/62.yaml new file mode 100644 index 0000000..48222ef --- /dev/null +++ b/testingData/scenes/62.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2175495501229883, 0.09602233329714263, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/63.yaml b/testingData/scenes/63.yaml new file mode 100644 index 0000000..ec011e8 --- /dev/null +++ b/testingData/scenes/63.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2628479648899082, 0.014604889149457054, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/64.yaml b/testingData/scenes/64.yaml new file mode 100644 index 0000000..bc5e666 --- /dev/null +++ b/testingData/scenes/64.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2582322475065493, -0.08696252469104421, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/65.yaml b/testingData/scenes/65.yaml new file mode 100644 index 0000000..8138bea --- /dev/null +++ b/testingData/scenes/65.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2874797613566633, -0.0548143156764354, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/66.yaml b/testingData/scenes/66.yaml new file mode 100644 index 0000000..a78e0b4 --- /dev/null +++ b/testingData/scenes/66.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.335910077382053, -0.07101573846718551, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/67.yaml b/testingData/scenes/67.yaml new file mode 100644 index 0000000..f19f426 --- /dev/null +++ b/testingData/scenes/67.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3510052164123902, 0.0781032426814939, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/68.yaml b/testingData/scenes/68.yaml new file mode 100644 index 0000000..2585729 --- /dev/null +++ b/testingData/scenes/68.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3882875785673805, -0.0561074406493322, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/69.yaml b/testingData/scenes/69.yaml new file mode 100644 index 0000000..1130dac --- /dev/null +++ b/testingData/scenes/69.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2581482454735595, -0.07790096492143966, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/7.yaml b/testingData/scenes/7.yaml new file mode 100644 index 0000000..fbe4afc --- /dev/null +++ b/testingData/scenes/7.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.279291739467956, -0.0853970527850204, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/70.yaml b/testingData/scenes/70.yaml new file mode 100644 index 0000000..4f639ad --- /dev/null +++ b/testingData/scenes/70.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.214793515260638, -0.06803877881429432, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/71.yaml b/testingData/scenes/71.yaml new file mode 100644 index 0000000..d37c584 --- /dev/null +++ b/testingData/scenes/71.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3062638265728104, 0.017168955556904092, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/72.yaml b/testingData/scenes/72.yaml new file mode 100644 index 0000000..0d62703 --- /dev/null +++ b/testingData/scenes/72.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2322011339888734, -0.06652480544870387, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/73.yaml b/testingData/scenes/73.yaml new file mode 100644 index 0000000..cce6274 --- /dev/null +++ b/testingData/scenes/73.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3468043130273852, -0.021462760505023756, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/74.yaml b/testingData/scenes/74.yaml new file mode 100644 index 0000000..f51bb64 --- /dev/null +++ b/testingData/scenes/74.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2281422760020113, -0.05202850394393271, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/75.yaml b/testingData/scenes/75.yaml new file mode 100644 index 0000000..342369f --- /dev/null +++ b/testingData/scenes/75.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3314450939963234, -0.024195267895020425, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/76.yaml b/testingData/scenes/76.yaml new file mode 100644 index 0000000..3647d53 --- /dev/null +++ b/testingData/scenes/76.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.348769715024153, 0.013935675457240393, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/77.yaml b/testingData/scenes/77.yaml new file mode 100644 index 0000000..c85cf75 --- /dev/null +++ b/testingData/scenes/77.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.390573609067704, -0.022709893944463905, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/78.yaml b/testingData/scenes/78.yaml new file mode 100644 index 0000000..1ca54f9 --- /dev/null +++ b/testingData/scenes/78.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3382690220836948, 0.043279404737355615, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/79.yaml b/testingData/scenes/79.yaml new file mode 100644 index 0000000..cf44dde --- /dev/null +++ b/testingData/scenes/79.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2374488354585431, -0.08717789023787688, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/8.yaml b/testingData/scenes/8.yaml new file mode 100644 index 0000000..ea0217b --- /dev/null +++ b/testingData/scenes/8.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2602595551917282, -0.09164756782056137, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/80.yaml b/testingData/scenes/80.yaml new file mode 100644 index 0000000..7e47f52 --- /dev/null +++ b/testingData/scenes/80.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2788110030219664, 0.032241821408085375, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/81.yaml b/testingData/scenes/81.yaml new file mode 100644 index 0000000..8f26421 --- /dev/null +++ b/testingData/scenes/81.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3785269766729442, -0.04911820067078246, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/82.yaml b/testingData/scenes/82.yaml new file mode 100644 index 0000000..998b704 --- /dev/null +++ b/testingData/scenes/82.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.281992303009654, 0.06737586289705308, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/83.yaml b/testingData/scenes/83.yaml new file mode 100644 index 0000000..8f465b9 --- /dev/null +++ b/testingData/scenes/83.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3193635382700166, -0.05552394750301024, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/84.yaml b/testingData/scenes/84.yaml new file mode 100644 index 0000000..d9583c0 --- /dev/null +++ b/testingData/scenes/84.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2053401946803746, -0.053770990655656895, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/85.yaml b/testingData/scenes/85.yaml new file mode 100644 index 0000000..ead6a40 --- /dev/null +++ b/testingData/scenes/85.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.293490521946924, 0.07905862680634224, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/86.yaml b/testingData/scenes/86.yaml new file mode 100644 index 0000000..a166ffa --- /dev/null +++ b/testingData/scenes/86.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2919205752156073, 0.01968176060061408, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/87.yaml b/testingData/scenes/87.yaml new file mode 100644 index 0000000..5d175bb --- /dev/null +++ b/testingData/scenes/87.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2836058672038735, 0.07892657665720948, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/88.yaml b/testingData/scenes/88.yaml new file mode 100644 index 0000000..9514392 --- /dev/null +++ b/testingData/scenes/88.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.351879195525528, -0.03567569068511474, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/89.yaml b/testingData/scenes/89.yaml new file mode 100644 index 0000000..3fc698f --- /dev/null +++ b/testingData/scenes/89.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.232080508042113, -0.017058082455388507, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/9.yaml b/testingData/scenes/9.yaml new file mode 100644 index 0000000..1dc95b7 --- /dev/null +++ b/testingData/scenes/9.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3778999618644192, 0.037675798039630226, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/90.yaml b/testingData/scenes/90.yaml new file mode 100644 index 0000000..0c3e31e --- /dev/null +++ b/testingData/scenes/90.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2642709809891262, 0.02408067720180533, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/91.yaml b/testingData/scenes/91.yaml new file mode 100644 index 0000000..9e472ff --- /dev/null +++ b/testingData/scenes/91.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3239376156413236, 0.0609747866476969, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/92.yaml b/testingData/scenes/92.yaml new file mode 100644 index 0000000..b9616a0 --- /dev/null +++ b/testingData/scenes/92.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2966092620911938, -0.04565133127186494, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/93.yaml b/testingData/scenes/93.yaml new file mode 100644 index 0000000..e2eb85e --- /dev/null +++ b/testingData/scenes/93.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2468520639886453, -0.0610367899091423, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/94.yaml b/testingData/scenes/94.yaml new file mode 100644 index 0000000..6a1b625 --- /dev/null +++ b/testingData/scenes/94.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2072834231273806, -0.03111940307458004, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/95.yaml b/testingData/scenes/95.yaml new file mode 100644 index 0000000..ac6c4ab --- /dev/null +++ b/testingData/scenes/95.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2690991548807458, 0.08877271220846167, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/96.yaml b/testingData/scenes/96.yaml new file mode 100644 index 0000000..7cd7e4b --- /dev/null +++ b/testingData/scenes/96.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2730513181803873, -0.0805969571288942, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/97.yaml b/testingData/scenes/97.yaml new file mode 100644 index 0000000..4eab7a0 --- /dev/null +++ b/testingData/scenes/97.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3064422004918477, -0.09402318019449513, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/98.yaml b/testingData/scenes/98.yaml new file mode 100644 index 0000000..18584df --- /dev/null +++ b/testingData/scenes/98.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.2137394064914466, -0.04528377697017492, 0.0646922, 0.0, 0.0, 0.0] diff --git a/testingData/scenes/99.yaml b/testingData/scenes/99.yaml new file mode 100644 index 0000000..8df4478 --- /dev/null +++ b/testingData/scenes/99.yaml @@ -0,0 +1 @@ +desiredFinalPos: [1.3136739760472553, -0.04444092681698264, 0.0646922, 0.0, 0.0, 0.0]