Colbench

Requirements

• cmake
• numpy
• pandas
• eigenpy==2.7.14
• proxsuite
• hppfcl (see below)

For trajectory generation:

• Pinocchio-3x
• contact-bench

Installation

• Clone this repo
• Run git submodule update --init
• Install hppfcl submodule
  • cd hppfcl
  • mkdir build && cd build
  • cmake -DHPP_FCL_HAS_QHULL=ON ..
  • make install
• Install colbench
  • mkdir build && cd build
  • cmake ..
  • make install

Run benchmarks

Ellipsoids

• ./scripts/generate_ellipsoids_dataset.sh
• ./scripts/run_ellipsoids_benchmark.sh

YCB

Standard YCB benchmark

First download ycb and post_process the dataset:

• ./scripts/download_and_process_ycb_dataset.sh

To generate, run the benchmark and see the results:

• ./scripts/generate_ycb_dataset.sh
• ./scripts/run_ycb_benchmark.sh