ffmpeg -i untitled.mp4 -vcodec libx264 -crf 24 video.mp4 ## DEBUG commands cl.robot.setCurrentConfig(q1) cl.robot.collisionTest() cl.robot.distancesToCollision() from numpy import * cl.robot.distancesToCollision()[1][argmin(cl.robot.distancesToCollision()[0])] cl.robot.distancesToCollision()[2][argmin(cl.robot.distancesToCollision()[0])] r( cl.problem.configAtDistance(0,5) ) cl.problem.optimizePath (0) cl.problem.clearRoadmap () cl.problem.resetGoalConfigs () robot.getJointNames () robot.getConfigSize () cl.obstacle.getObstaclePosition('decor_base') robot.getJointOuterObjects('shoulder_pan_joint') cl.robot.getRobotRadiuses () ## Debug Optimization Tools ############## num_log = 32174 from parseLog import parseCollConstrPoints, parseNodes collConstrNodes = parseNodes (num_log, '189: qFree_ = ') collNodes = parseNodes (num_log, '182: qColl = ') contactPoints = parseCollConstrPoints (num_log, '77: contact point = (') x1_J1 = parseCollConstrPoints (num_log, '96: x1 in R0 = (') x2_J1 = parseCollConstrPoints (num_log, '97: x2 in R0 = (') x1_J2 = parseCollConstrPoints (num_log, '116: x1 in J2 = (')
r.client.gui.removeFromGroup ("frame2"+"framy",r.sceneName) r.client.gui.removeFromGroup ("frame3"+"framy",r.sceneName) pp.dt = 0.02 r.startCapture ("capture","png") pp(ps.numberPaths()-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 %03d $x); ln "$i" new"$counter".png; x=$(($x+1)); done ffmpeg -r 50 -i new%03d.png -r 25 -vcodec libx264 video.mp4 ## DEBUG commands cl.robot.setCurrentConfig(q1) cl.robot.collisionTest() cl.robot.distancesToCollision() from numpy import * cl.robot.distancesToCollision()[1][argmin(cl.robot.distancesToCollision()[0])] cl.robot.distancesToCollision()[2][argmin(cl.robot.distancesToCollision()[0])] r( cl.problem.configAtDistance(0,5) ) cl.problem.optimizePath (0) cl.problem.clearRoadmap () cl.problem.resetGoalConfigs () robot.getJointNames () robot.getConfigSize () cl.obstacle.getObstaclePosition('decor_base') robot.getJointOuterObjects('shoulder_pan_joint')