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
## 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 = (')
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')
