adjusted scenarios to make them visually attractive (i.e., solve only…

… once, turn viewer on), modified readme file

README.md

@@ -17,13 +17,17 @@ Installation (for Ubuntu + Eclipse):
 		- Application: "Release/src/rlDamaDemoGUI/rlDamaDemoGUI", resp. "Debug/src/rlDamaDemoGUI/rlDamaDemoGUI"
 		- choose the respective Build configuration
 		- Arguments -> Working directory: ${workspace_loc:mopl}/output
-		- Arguments -> Program arguments: ../data/tasks/meka-test.xml (i.e., choose the scenario to be solved)
+		- Arguments -> Program arguments: "../data/tasks/kuka-scenario1.xml" (i.e., here you choose the scenario to be solved)
 
 Testing:
 --------------
 - Within your git repository root folder, execute: "cd Release && make -j8 && ctest"
 - If all test scenarios run nice and smoothly, you are ready to start your own MOPL-Experiments!
 
-Testing:
+Running Scenarios:
 --------------
-- 
+- Switch to "Release" build mode, "Debug" is rather slow and should only be used for bugfixing
+- In the 'Program arguments' within the 'Release Run Configuration' you can choose which scenario/task you want to solve. Have a look at the folder "data/tasks/" which scenarios are currently available. The currently evaluated scenarios from our MOPL-paper are: "kuka-scenario1.xml", "kuka-scenario2.xml", "meka-scenario1.xml", and "mobile-robot-scenario1.xml".
+- Note that tasks are defined in a mark-up language and allow modification of robot and workspace models, sampling spaces, problem description, planner settings, manipulation primitives, sampling and metric parameters, and post processing routines like path smoothing. Furthermore, they also define parameters of the viewer, like the mode (loop|once|off) and the simulation speed.
+- For executing a task from the command line, run from the root directory: "cd output && ../Release/src/rlDamaDemoGUI/rlDamaDemoGUI ../data/tasks/mobile-robot-scenario1.xml"
+- Within the folder "output/", a csv-file "DamaBenchmark.csv" contains information about each scenario you did run in the past.

data/tasks/kuka-scenario1.xml

@@ -68,8 +68,8 @@
 		<extendStep>0.2</extendStep>
 		<epsilon>1e-3</epsilon>
 		<duration>60</duration>
-		<seed type="randSingle" group="26" single="699158960"></seed><!-- type is "randSingle" or "singleOnly" TEST: 2097169232-->
-		<numRuns>200</numRuns>
+		<seed type="randSingle" group="28" single="699158960"></seed><!-- type is "randSingle" or "singleOnly" TEST: 2097169232-->
+		<numRuns>1</numRuns>
 		<kdTree />
 		<!--<accurateDistance />-->
 		<bidirectional/>
@@ -85,7 +85,7 @@
 		<pathSmoothing /><!---->
 		<!--<extendPushes />-->
 	</postProc>
-	<viewer mode="off" onlyResult="on" speedFactor="3.5"> <!-- allowed mode: loop, once, off -->
+	<viewer mode="loop" onlyResult="off" speedFactor="3.5"> <!-- allowed mode: loop, once, off -->
 		<!--<showFullTree />-->
 		<!--<showExportableTree pointSize="21.0" lineWidth="10.0" />--> <!-- for all non-mobile robots: set to 16.0 and 5.0 -->
 	</viewer>

data/tasks/kuka-scenario2.xml

@@ -2,7 +2,7 @@
 <dama prefixName="kuka-scenario-2" description="Kuka Scenario 2 - Cabinet">
 	<model numOfObjects="3" dimOfObjects="3">
 		<sceneFile href="../models/kuka-lwr4/rlsg/kuka-scenario2.xml"/>
-		<sceneHDFile href="../models/kuka-lwr4/rlsg/kuka-scenario2-hd.xml"/>
+		<sceneHDFile href="../models/kuka-lwr4/rlsg/kuka-scenario2.xml"/>
 		<mdlFile href="../models/kuka-lwr4/rlmdl/kuka-lwr4-right_scene3.xml"/>
 		<allJointsAreRevolute />
 		<!--<allJointsArePrismatic />-->
@@ -68,7 +68,7 @@
 		<extendStep>0.2</extendStep>
 		<epsilon>1e-3</epsilon>
 		<duration>180</duration>
-		<seed type="singleOnly" group="26" single="660973678"></seed><!-- type is "randSingle" or "singleOnly" TEST: 2097169232-->
+		<seed type="randSingle" group="28" single="699158960"></seed><!-- type is "randSingle" or "singleOnly" TEST: 2097169232-->
 		<numRuns>1</numRuns>
 		<kdTree />
 		<!--<accurateDistance />-->
@@ -85,8 +85,8 @@
 		<pathSmoothing /><!---->
 		<!--<extendPushes />-->
 	</postProc>
-	<viewer mode="loop" onlyResult="on" speedFactor="2.0"> <!-- allowed mode: loop, once, off -->
+	<viewer mode="loop" onlyResult="off" speedFactor="3.5"> <!-- allowed mode: loop, once, off -->
 		<!--<showFullTree />-->
-		<showExportableTree pointSize="12.0" lineWidth="4.0" /> <!-- for all non-mobile robots: set to 16.0 and 5.0 -->
+		<!--<showExportableTree pointSize="21.0" lineWidth="10.0" />--> <!-- for all non-mobile robots: set to 16.0 and 5.0 -->
 	</viewer>
 </dama>

data/tasks/meka-scenario1.xml

@@ -2,7 +2,7 @@
 <dama prefixName="meka-scenario-1" description="Meka Scenario 1">
 	<model numOfObjects="3" dimOfObjects="3">
 		<sceneFile href="../models/mekabot-convex/meka-scenario1.xml"/>
-		<sceneHDFile href="../models/mekabot-convex/meka-scenario1-hd.xml"/>
+		<sceneHDFile href="../models/mekabot-convex/meka-scenario1.xml"/>
 		<mdlFile href="../models/mekabot-convex/rlmdl/mekabot-torso-rightarm.xml"/>
 		<mdlGraspFile href="../models/mekabot-convex/rlmdl/mekabot-torso-rightarm-grasp.xml"/>
 		<allJointsAreRevolute />
@@ -87,8 +87,8 @@
 		<extendStep>0.1</extendStep> <!-- 0.2 worked better than 0.1 once, but dunno ... smaller, better I guess -->
 		<epsilon>1e-3</epsilon>
 		<duration>600</duration><!---->
-		<seed type="randSingle" group="26" single="636253791"></seed><!-- type is "randSingle" or "singleOnly" -->
-		<numRuns>5</numRuns>
+		<seed type="randSingle" group="28" single="699158960"></seed><!-- type is "randSingle" or "singleOnly" -->
+		<numRuns>1</numRuns>
 		<kdTree />
 		<!--<accurateDistance />-->
 		<bidirectional/>
@@ -105,8 +105,8 @@
 		<pathSmoothing /><!---->
 		<!--<extendPushes />-->
 	</postProc>
-	<viewer mode="loop" onlyResult="on" speedFactor="1.5"> <!-- allowed mode: loop, once, off -->
+	<viewer mode="loop" onlyResult="off" speedFactor="2.6"> <!-- allowed mode: loop, once, off -->
 		<!--<showFullTree />-->
-		<showExportableTree pointSize="12.0" lineWidth="4.0" /> <!-- for all non-mobile robots: set to 16.0 and 5.0 -->
+		<!--<showExportableTree pointSize="21.0" lineWidth="10.0" />--> <!-- for all non-mobile robots: set to 16.0 and 5.0 -->
 	</viewer>
 </dama>

data/tasks/mobile-robot-scenario1.xml

@@ -61,8 +61,8 @@
 		<delta>0.05</delta> <!-- unit="deg" -->
 		<extendStep>0.35</extendStep>
 		<epsilon>1e-3</epsilon>
-		<duration>120</duration><!---->
-		<seed type="singleOnly" group="26" single="1852789399"></seed><!-- type is "randSingle" or "singleOnly" -->
+		<duration>60</duration><!---->
+		<seed type="randSingle" group="28" single="699158960"></seed><!-- type is "randSingle" or "singleOnly" -->
 		<numRuns>1</numRuns>
 		<kdTree />
 		<!--<accurateDistance />-->
@@ -81,8 +81,8 @@
 		<pathSmoothing />
 		<!--<extendPushes />-->
 	</postProc>
-	<viewer mode="loop" onlyResult="on" speedFactor="4.0"> <!-- allowed mode: loop, once, off -->
+	<viewer mode="loop" onlyResult="off" speedFactor="4.0"> <!-- allowed mode: loop, once, off -->
 		<!--<showFullTree />-->
-		<showExportableTree pointSize="21.0" lineWidth="10.0" /> <!-- for all non-mobile robots: set to 16.0 and 5.0 -->
+		<!--<showExportableTree pointSize="21.0" lineWidth="10.0" />--> <!-- for all non-mobile robots: set to 16.0 and 5.0 -->
 	</viewer>
 </dama>