mencoder video.mp4 -channels 6 -ovc xvid -xvidencopts fixed_quant=4 -vf harddup -oac pcm -o video.avi
ffmpeg -i untitled.mp4 -vcodec libx264 -crf 24 video.mp4
# Load box obstacle in HPP for collision avoidance
cl.obstacle.loadObstacleModel('puzzle_description','decor_very_easy','')
#cl.obstacle.loadObstacleModel('puzzle_description','decor_easy','')
#cl.obstacle.loadObstacleModel('puzzle_description','decor','')
## DEBUG commands
cl.obstacle.getObstaclePosition('decor_base')
robot.getJointOuterObjects('j_object_one')
robot.isConfigValid(q1)
robot.distancesToCollision()
r( ps.configAtDistance(0,5) )
ps.optimizePath (0)
ps.clearRoadmap ()
ps.resetGoalConfigs ()
from numpy import *
argmin(robot.distancesToCollision()[0])
## Debug Optimization Tools ##############
num_log = 26123
from parseLog import parseCollConstrPoints, parseNodes
collConstrNodes = parseNodes (num_log, '189: qFree_ = ')
collNodes = parseNodes (num_log, '182: qColl = ')
contactPoints = parseCollConstrPoints (num_log, '77: contact point = (')
ps.getWaypoints (0)
ps.getWaypoints (1)
plotPath (cl, 0, r, "pathy", 0.1) # time-step should depend on sub-path length ?
plotFrame (r, "framy", [0,0,0], 0.5)
plotThetaPlane (q1, q2, r, "ThetaPlane")
## DEBUG commands
cl.obstacle.getObstaclePosition('decor_base')
robot.getJointOuterObjects('base_joint_xyz')
robot.isConfigValid(q1)
robot.distancesToCollision()
r( ps.configAtDistance(0,5) )
ps.optimizePath (0)
ps.clearRoadmap ()
ps.resetGoalConfigs ()
from numpy import *
argmin(robot.distancesToCollision()[0])
robot.getJointNames ()
robot.getConfigSize ()
ps.setInitialConfig (qt1); ps.addGoalConfig (qt2); ps.solve ()
texcoord="UVMap"
<instance_material symbol="stone14-material" target="#stone14-material">
