Awesome

Colbench

<p align="center"> <a href="https://github.com/lmontaut/colbench"><img src="./imgs/ycb_table.png"></a> </p>

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