From 6a30c45fd5ee679531c679e611843639f4349f36 Mon Sep 17 00:00:00 2001
From: odri <odri@furano.laas.fr>
Date: Thu, 19 Aug 2021 14:54:22 +0200
Subject: [PATCH] Switch from savez to savez_compressed
---
scripts/LoggerControl.py | 166 +++++++++++++++++++--------------------
scripts/LoggerSensors.py | 28 +++----
2 files changed, 97 insertions(+), 97 deletions(-)
diff --git a/scripts/LoggerControl.py b/scripts/LoggerControl.py
index 59bdc9b6..510bfe7e 100644
--- a/scripts/LoggerControl.py
+++ b/scripts/LoggerControl.py
@@ -659,87 +659,87 @@ class LoggerControl():
def saveAll(self, loggerSensors, fileName="data"):
date_str = datetime.now().strftime('_%Y_%m_%d_%H_%M')
- np.savez(fileName + date_str + ".npz",
-
- joy_v_ref=self.joy_v_ref,
-
- esti_feet_status=self.esti_feet_status,
- esti_feet_goals=self.esti_feet_goals,
- esti_q_filt=self.esti_q_filt,
- esti_v_filt=self.esti_v_filt,
- esti_v_secu=self.esti_v_secu,
-
- esti_FK_lin_vel=self.esti_FK_lin_vel,
- esti_FK_xyz=self.esti_FK_xyz,
- esti_xyz_mean_feet=self.esti_xyz_mean_feet,
- esti_filt_lin_vel=self.esti_filt_lin_vel,
-
- esti_HP_x=self.esti_HP_x,
- esti_HP_dx=self.esti_HP_dx,
- esti_HP_alpha=self.esti_HP_alpha,
- esti_HP_filt_x=self.esti_HP_filt_x,
-
- esti_LP_x=self.esti_LP_x,
- esti_LP_dx=self.esti_LP_dx,
- esti_LP_alpha=self.esti_LP_alpha,
- esti_LP_filt_x=self.esti_LP_filt_x,
-
- loop_o_q=self.loop_o_q,
- loop_o_v=self.loop_o_v,
- loop_h_v=self.loop_h_v,
- loop_t_filter=self.loop_t_filter,
- loop_t_planner=self.loop_t_planner,
- loop_t_mpc=self.loop_t_mpc,
- loop_t_wbc=self.loop_t_wbc,
- loop_t_loop=self.loop_t_loop,
- loop_t_loop_if=self.loop_t_loop_if,
- loop_q_filt_mpc=self.loop_q_filt_mpc,
- loop_h_v_filt_mpc=self.loop_h_v_filt_mpc,
- loop_vref_filt_mpc=self.loop_vref_filt_mpc,
-
- planner_xref=self.planner_xref,
- planner_fsteps=self.planner_fsteps,
- planner_gait=self.planner_gait,
- planner_goals=self.planner_goals,
- planner_vgoals=self.planner_vgoals,
- planner_agoals=self.planner_agoals,
- planner_is_static=self.planner_is_static,
- planner_h_ref=self.planner_h_ref,
-
- mpc_x_f=self.mpc_x_f,
- mpc_solving_duration=self.mpc_solving_duration,
-
- wbc_P=self.wbc_P,
- wbc_D=self.wbc_D,
- wbc_q_des=self.wbc_q_des,
- wbc_v_des=self.wbc_v_des,
- wbc_FF=self.wbc_FF,
- wbc_tau_ff=self.wbc_tau_ff,
- wbc_ddq_IK=self.wbc_ddq_IK,
- wbc_f_ctc=self.wbc_f_ctc,
- wbc_ddq_QP=self.wbc_ddq_QP,
- wbc_feet_pos=self.wbc_feet_pos,
- wbc_feet_pos_target=self.wbc_feet_pos_target,
- wbc_feet_err=self.wbc_feet_err,
- wbc_feet_vel=self.wbc_feet_vel,
- wbc_feet_vel_target=self.wbc_feet_vel_target,
- wbc_feet_acc_target=self.wbc_feet_acc_target,
-
- tstamps=self.tstamps,
-
- q_mes=loggerSensors.q_mes,
- v_mes=loggerSensors.v_mes,
- baseOrientation=loggerSensors.baseOrientation,
- baseAngularVelocity=loggerSensors.baseAngularVelocity,
- baseLinearAcceleration=loggerSensors.baseLinearAcceleration,
- baseAccelerometer=loggerSensors.baseAccelerometer,
- torquesFromCurrentMeasurment=loggerSensors.torquesFromCurrentMeasurment,
- mocapPosition=loggerSensors.mocapPosition,
- mocapVelocity=loggerSensors.mocapVelocity,
- mocapAngularVelocity=loggerSensors.mocapAngularVelocity,
- mocapOrientationMat9=loggerSensors.mocapOrientationMat9,
- mocapOrientationQuat=loggerSensors.mocapOrientationQuat,
- )
+ np.savez_compressed(fileName + date_str + ".npz",
+
+ joy_v_ref=self.joy_v_ref,
+
+ esti_feet_status=self.esti_feet_status,
+ esti_feet_goals=self.esti_feet_goals,
+ esti_q_filt=self.esti_q_filt,
+ esti_v_filt=self.esti_v_filt,
+ esti_v_secu=self.esti_v_secu,
+
+ esti_FK_lin_vel=self.esti_FK_lin_vel,
+ esti_FK_xyz=self.esti_FK_xyz,
+ esti_xyz_mean_feet=self.esti_xyz_mean_feet,
+ esti_filt_lin_vel=self.esti_filt_lin_vel,
+
+ esti_HP_x=self.esti_HP_x,
+ esti_HP_dx=self.esti_HP_dx,
+ esti_HP_alpha=self.esti_HP_alpha,
+ esti_HP_filt_x=self.esti_HP_filt_x,
+
+ esti_LP_x=self.esti_LP_x,
+ esti_LP_dx=self.esti_LP_dx,
+ esti_LP_alpha=self.esti_LP_alpha,
+ esti_LP_filt_x=self.esti_LP_filt_x,
+
+ loop_o_q=self.loop_o_q,
+ loop_o_v=self.loop_o_v,
+ loop_h_v=self.loop_h_v,
+ loop_t_filter=self.loop_t_filter,
+ loop_t_planner=self.loop_t_planner,
+ loop_t_mpc=self.loop_t_mpc,
+ loop_t_wbc=self.loop_t_wbc,
+ loop_t_loop=self.loop_t_loop,
+ loop_t_loop_if=self.loop_t_loop_if,
+ loop_q_filt_mpc=self.loop_q_filt_mpc,
+ loop_h_v_filt_mpc=self.loop_h_v_filt_mpc,
+ loop_vref_filt_mpc=self.loop_vref_filt_mpc,
+
+ planner_xref=self.planner_xref,
+ planner_fsteps=self.planner_fsteps,
+ planner_gait=self.planner_gait,
+ planner_goals=self.planner_goals,
+ planner_vgoals=self.planner_vgoals,
+ planner_agoals=self.planner_agoals,
+ planner_is_static=self.planner_is_static,
+ planner_h_ref=self.planner_h_ref,
+
+ mpc_x_f=self.mpc_x_f,
+ mpc_solving_duration=self.mpc_solving_duration,
+
+ wbc_P=self.wbc_P,
+ wbc_D=self.wbc_D,
+ wbc_q_des=self.wbc_q_des,
+ wbc_v_des=self.wbc_v_des,
+ wbc_FF=self.wbc_FF,
+ wbc_tau_ff=self.wbc_tau_ff,
+ wbc_ddq_IK=self.wbc_ddq_IK,
+ wbc_f_ctc=self.wbc_f_ctc,
+ wbc_ddq_QP=self.wbc_ddq_QP,
+ wbc_feet_pos=self.wbc_feet_pos,
+ wbc_feet_pos_target=self.wbc_feet_pos_target,
+ wbc_feet_err=self.wbc_feet_err,
+ wbc_feet_vel=self.wbc_feet_vel,
+ wbc_feet_vel_target=self.wbc_feet_vel_target,
+ wbc_feet_acc_target=self.wbc_feet_acc_target,
+
+ tstamps=self.tstamps,
+
+ q_mes=loggerSensors.q_mes,
+ v_mes=loggerSensors.v_mes,
+ baseOrientation=loggerSensors.baseOrientation,
+ baseAngularVelocity=loggerSensors.baseAngularVelocity,
+ baseLinearAcceleration=loggerSensors.baseLinearAcceleration,
+ baseAccelerometer=loggerSensors.baseAccelerometer,
+ torquesFromCurrentMeasurment=loggerSensors.torquesFromCurrentMeasurment,
+ mocapPosition=loggerSensors.mocapPosition,
+ mocapVelocity=loggerSensors.mocapVelocity,
+ mocapAngularVelocity=loggerSensors.mocapAngularVelocity,
+ mocapOrientationMat9=loggerSensors.mocapOrientationMat9,
+ mocapOrientationQuat=loggerSensors.mocapOrientationQuat,
+ )
def loadAll(self, loggerSensors, fileName=None):
@@ -1024,8 +1024,8 @@ if __name__ == "__main__":
import LoggerSensors
# Create loggers
- loggerSensors = LoggerSensors.LoggerSensors(logSize=15000-3)
- logger = LoggerControl(0.001, 30, logSize=15000-3)
+ loggerSensors = LoggerSensors.LoggerSensors(logSize=10000-3)
+ logger = LoggerControl(0.001, 30, logSize=10000-3)
# Load data from .npz file
logger.loadAll(loggerSensors)
diff --git a/scripts/LoggerSensors.py b/scripts/LoggerSensors.py
index c2aaf2ba..2ecff6be 100644
--- a/scripts/LoggerSensors.py
+++ b/scripts/LoggerSensors.py
@@ -73,17 +73,17 @@ class LoggerSensors():
def saveAll(self, fileName="dataSensors"):
date_str = datetime.now().strftime('_%Y_%m_%d_%H_%M')
- np.savez(fileName + date_str + ".npz",
- q_mes=self.q_mes,
- v_mes=self.v_mes,
- baseOrientation=self.baseOrientation,
- baseAngularVelocity=self.baseAngularVelocity,
- baseLinearAcceleration=self.baseLinearAcceleration,
- baseAccelerometer=self.baseAccelerometer,
- torquesFromCurrentMeasurment=self.torquesFromCurrentMeasurment,
- mocapPosition=self.mocapPosition,
- mocapVelocity=self.mocapVelocity,
- mocapAngularVelocity=self.mocapAngularVelocity,
- mocapOrientationMat9=self.mocapOrientationMat9,
- mocapOrientationQuat=self.mocapOrientationQuat,
- tstamps=self.tstamps)
+ np.savez_compressed(fileName + date_str + ".npz",
+ q_mes=self.q_mes,
+ v_mes=self.v_mes,
+ baseOrientation=self.baseOrientation,
+ baseAngularVelocity=self.baseAngularVelocity,
+ baseLinearAcceleration=self.baseLinearAcceleration,
+ baseAccelerometer=self.baseAccelerometer,
+ torquesFromCurrentMeasurment=self.torquesFromCurrentMeasurment,
+ mocapPosition=self.mocapPosition,
+ mocapVelocity=self.mocapVelocity,
+ mocapAngularVelocity=self.mocapAngularVelocity,
+ mocapOrientationMat9=self.mocapOrientationMat9,
+ mocapOrientationQuat=self.mocapOrientationQuat,
+ tstamps=self.tstamps)
--
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