From c504e7f0f155c39900936cbcef85bd4feed2b4ee Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Mon, 7 Nov 2011 17:02:11 +0100
Subject: [PATCH] Modify the output for OpenHRP seqplay.
---
python/history.py | 8 +++++---
1 file changed, 5 insertions(+), 3 deletions(-)
diff --git a/python/history.py b/python/history.py
index e28cd9d..368ba72 100644
--- a/python/history.py
+++ b/python/history.py
@@ -30,9 +30,11 @@ class History:
def dumpToOpenHRP(self,baseName = "dyninv",sample = 1):
filePos = open(baseName+'.pos','w')
fileRPY = open(baseName+'.hip','w')
+ fileWaist = open(baseName+'.waist','w')
sampleT = 0.005
for nT,q in enumerate(self.q):
fileRPY.write(str(sampleT*nT)+' '+str(q[3])+' '+str(q[4])+' '+str(q[5])+'\n')
+ fileWaist.write(str(sampleT*nT)+' '+str(q[0])+' '+str(q[1])+' '+str(q[2])+' '+str(q[3])+' '+str(q[4])+' '+str(q[5])+'\n')
filePos.write(str(sampleT*nT)+' ')
for j in range(6,36):
filePos.write(str(q[j])+' ')
@@ -42,9 +44,9 @@ class History:
for nT,z in enumerate(self.zmp):
fileZMP.write(str(sampleT*nT)+' '+str(z[0])+' '+str(z[1])+' '+str(z[2])+'\n')
- filePos0 = open(baseName+'.pos0','w')
- filePos0.write( "seq.sendMsg(\":joint-angles " )
+ filePos0 = open(baseName+'_pos0.py','w')
+ filePos0.write( "dyninv_posinit = '" )
q0 = self.q[0]
for x in q0[6:36]:
filePos0.write( str(x*180.0/pi)+' ' )
- filePos0.write( " 0 0 0 0 0 0 0 0 0 0 5\")")
+ filePos0.write( " 0 0 0 0 0 0 0 0 0 0 '")
--
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