lightName = "l3"
r.client.gui.addLight (lightName, r.windowId, 0.001, [0.4,0.4,0.4,0.5])
r.client.gui.addToGroup (lightName, r.sceneName)
r.client.gui.applyConfiguration (lightName, [xStone+2,yEmu+0.5,zEmu,1,0,0,0])
r.client.gui.refresh ()
## Video recording
pp.dt = 0.01
pp.speed = 1.5
r(q1)
r.startCapture ("capture","png")
pp(nInitialPath)
#pp(ps.numberPaths()-1)
r(q11)
r.stopCapture ()
## ffmpeg commands
ffmpeg -r 50 -i capture_0_%d.png -r 25 -vcodec libx264 video.mp4
x=0; for i in *png; do counter=$(printf %03d $x); ln "$i" new"$counter".png; x=$(($x+1)); done
ffmpeg -r 50 -i new%03d.png -r 25 -vcodec libx264 video.mp4
# Load obstacles in HPP
cl.obstacle.loadObstacleModel('gravity_description','gravity_decor','')
cl.obstacle.loadObstacleModel('gravity_description','emu','')
## DEBUG commands
cl.obstacle.getObstaclePosition('obstacle_base')
cl.robot.getJointOuterObjects('CHEST_JOINT1')
cl.robot.getCurrentConfig()
i = 0
parabPlotOriginCones (cl, 0, theta, NconeOne, pointsConeOne, angles, i, 0.6, plt)
plt.show()
# --------------------------------------------------------------------#
## Video capture ##
import time
pp.dt = 0.01; pp.speed=0.5
r(q1)
r.startCapture ("capture","png")
r(q1); time.sleep(0.2); r(q1)
pp(0)
#pp(ps.numberPaths()-1)
r(q2); time.sleep(1);
r.stopCapture ()
## ffmpeg commands
ffmpeg -r 50 -i capture_0_%d.png -r 25 -vcodec libx264 video.mp4
x=0; for i in *png; do counter=$(printf %04d $x); ln "$i" new"$counter".png; x=$(($x+1)); done
ffmpeg -r 50 -i new%04d.png -r 25 -vcodec libx264 video.mp4
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
# --------------------------------------------------------------------#
## Export to Blender ##
r.client.gui.writeNodeFile(0, 'scene.osg')
# osgconvd -O NoExtras scene.osg scene.dae
from hpp.gepetto.blender.exportmotion import exportStates, exportPath
exportPath(r, cl.robot, cl.problem, 0, 1, 'path2.txt')
