From f63f5c83a96e441a23a2dc94486bded8cb5dbb8a Mon Sep 17 00:00:00 2001
From: Maxime REIS <maxime.reis@gmail.com>
Date: Tue, 8 Nov 2011 16:16:46 +0100
Subject: [PATCH] Adding option to specify the robot model in the replay.py
script (-R option). Now works with HRP2 and Romeo models.
---
python/replay.py | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
diff --git a/python/replay.py b/python/replay.py
index 6b1202f..5892732 100644
--- a/python/replay.py
+++ b/python/replay.py
@@ -25,6 +25,7 @@ parser.add_option("-s", dest="server", help="Name of server (CORBA or XML-RPC).
parser.add_option("-r", dest="size", help="Robot size if file verification is needed.", default="-1", type=int)
parser.add_option("-n", dest="iter", help="Number of iteration to play.", default="-1", type=int)
parser.add_option("-z", dest="decimate", help="percentage of frame to use, should be <1", default="1", type=float)
+parser.add_option("-R", dest="robotName", help="Robot on which the simulation is replayed. Default is %default", default="hrp2")
(options, args) = parser.parse_args()
parser.print_help()
print '\n -------------------------------------------------------------------------'
@@ -82,8 +83,8 @@ def inc():
robotTime += 1
if robotTime%1000==0: print "\nTime: " + str(robotTime)
- # Add 10 values for the hand DOFs
- pos_angles += 10*[0.0]
+ # Add 10 values for the hand DOFs for HRP2
+ if options.robotName=="hrp2": pos_angles += 10*[0.0]
# Plot only if the values are not 'NaN'
nbImage+=decimate
--
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