def readJointLogFile(self):
jfilename = self.filename[:-5] + ".h5"
if not os.path.isfile(jfilename):
print(f"HDF5 file {jfilename} not found")
return
from qnd.h5f import openh5
f = openh5(jfilename, "r")
jlog = defaultdict(list)
for rec in f.gotoit():
for v in f:
jlog[v].append(f[v])
for v in jlog:
jlog[v] = np.asarray(jlog[v])
return jlog
'''
# Misc. qnd example, runs for pdb, h5, and nc3:
# though some things don't work for specific file types
from pylab import *
from qnd.h5f import openh5
from qnd.ncf import opennc
from qnd.pdbf import openpdb
from qnd.frontend import QList
########## Write a new file ##########
iftype = 'pdb'
if iftype == 'h5':
fname = 'example_misc.h5'
f = openh5(fname, 'w')
elif iftype == 'nc':
fname = 'example_misc.nc3'
f = opennc(fname, 'w')
elif iftype == 'pdb':
fname = 'example_misc.pdb'
f = openpdb(fname, 'w')
# non-record vars
x = linspace(0, 10, 201) # numpy array
y = sin(x)
f.x = x # like an object attribute
f['y'] = y # like a dict
# record vars
f.recording(1)
logId1 = p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT,
log_file,
[kuka],
logFlags = p.STATE_LOG_JOINT_TORQUES,
)
if make_joint_log:
import numpy as np
from qnd.h5f import openh5
# turn on torque sensing recorded in getJointStates():
for jointIndex in range(p.getNumJoints(kuka)):
p.enableJointForceTorqueSensor(kuka, jointIndex)
# initialize qnd logfile:
jlog = openh5(jointlog_file, "w")
jlog.recording(1)
while p.isConnected():
keys = p.getKeyboardEvents()
appliedtorques = [0]*p.getNumJoints(kuka)
for k in my_keys:
if k.ord in keys and keys[k.ord] & p.KEY_IS_DOWN: #WAS_TRIGGERED:
print(f"{k.key} was pressed")
torque = k.torque
appliedtorques[k.joint] = torque
else:
torque = 0.
time.sleep(0.01)
p.setJointMotorControl2(kuka, k.joint, p.VELOCITY_CONTROL, targetVelocity = 0, force = 0.1)
'''
example_write_h5.py demos how to write single values and multiple records
into an hdf5 file
'''
import numpy as np
from qnd.h5f import openh5
fname = "foo.h5"
with openh5(fname, "w") as f:
# write a single value:
f.x = 3
# turn on recording and write two records:
f.recording(1)
f.tm = 0
f.y = 0.1
f.z = np.arange(3)
f.tm = 1
f.y = 0.2
f.z = np.arange(3) + 1
# reopen file to append data:
with openh5(fname, "a") as f:
# append a single new variable to the file
f.a = 10
# write one new record: