Writing a CSV File - Revision history

Lynch at 17:05, 13 October 2020

2020-10-13T17:05:42Z

Lynch at 07:59, 25 January 2020

2020-01-25T07:59:47Z

Lynch at 04:28, 4 July 2018

2018-07-04T04:28:58Z

Lynch at 04:27, 4 July 2018

2018-07-04T04:27:22Z

Lynch at 04:25, 4 July 2018

2018-07-04T04:25:09Z

Lynch at 04:23, 4 July 2018

2018-07-04T04:23:20Z

Lynch at 04:23, 4 July 2018

2018-07-04T04:23:01Z

Lynch: /* Python */

2018-07-04T04:18:39Z

Python

Lynch at 04:15, 4 July 2018

2018-07-04T04:15:20Z

Lynch: Created page with "right Several of the V-REP simulation scenes require a comma-separated values (CSV) file as input. A CSV file may represent the trajectory of a robot, w..."

2018-07-04T04:14:39Z

Created page with "right Several of the V-REP simulation scenes require a comma-separated values (CSV) file as input. A CSV file may represent the trajectory of a robot, w..."

New page

[[image:youbot.jpg|right]]

Several of the V-REP simulation scenes require a comma-separated values (CSV) file as input. A CSV file may represent the trajectory of a robot, where each row contains the configuration of the robot at an instant in time, with a fixed time between each row. If the robot has <math>n</math> joints, then each row has <math>n</math> numbers separated by commas. For example, five rows of a CSV file for a six-joint robot might look like this:

2.950000,-1.570000,0.000000,0.000000,0.000000,0.000000
2.987484,-1.540050,0.019967,0.019992,0.012495,0.009996
3.024875,-1.510399,0.039734,0.039933,0.024958,0.019967
3.062079,-1.481344,0.059104,0.059775,0.037360,0.029888
3.099002,-1.453174,0.077884,0.079468,0.049667,0.039734

Below are code snippets in Python, MATLAB, and Mathematica that you can modify to create your own CSV files.

[[Getting_Started_with_the_V-REP_Simulator'''This page''']] contains information on getting started quickly with V-REP. [[V-REP_Introduction|'''This page''']] contains a number of scenes that accept CSV file inputs for visualization of robot trajectories.

===Python===

import numpy as np

<code>
# Generate random 3x4 matrix of floats y, 3x1 vector of ints d
y = np.random.rand(3, 4)
d = np.random.randint(-100, 100, 3)

# Open a file for output
# Overwrite
f = open("output.csv", "w")
# Append
#f = open("output.csv", "a")

# For loop running 3 times to print each csv row
for i in range(len(d)):
output = " %9.5f, %9.5f, %9.5f, %9.5f, %d\n" % (y[i,0], y[i,1], y[i,2], y[i,3], d[i])
f.write(output)

# close file
f.close()
</code>

===MATLAB===

===Mathematica===

@@ Line 13: / Line 13: @@
 Below are code snippets in Python, MATLAB, and Mathematica that you can modify to create your own CSV files.
-[[Getting_Started_with_the_CoppeliaSim_Simulator|'''This page''']] contains information on getting started quickly with Coppelia.  [[CoppeliaSim_Introduction|'''This page''']] contains a number of scenes that accept CSV file inputs for visualization of robot trajectories.
+[[Getting_Started_with_the_CoppeliaSim_Simulator|'''This page''']] contains information on getting started quickly with CoppeliaSim.  [[CoppeliaSim_Introduction|'''This page''']] contains a number of scenes that accept CSV file inputs for visualization of robot trajectories.
 ===Python===

@@ Line 1: / Line 1: @@
 [[image:ur5-img.png|right|x200px]]
-Several of the V-REP simulation scenes require a plain-text comma-separated values (CSV) file as input.  A CSV file may represent the trajectory of a robot, where each row contains the configuration of the robot at an instant in time, with a fixed time between each row.  If the robot has <math>n</math> joints, then each row has <math>n</math> numbers separated by commas.  For example, five rows of a CSV file for a six-joint robot might look like this:
+Several of the CoppeliaSim simulation scenes require a plain-text comma-separated values (CSV) file as input.  A CSV file may represent the trajectory of a robot, where each row contains the configuration of the robot at an instant in time, with a fixed time between each row.  If the robot has <math>n</math> joints, then each row has <math>n</math> numbers separated by commas.  For example, five rows of a CSV file for a six-joint robot might look like this:
 .950000, -1.570000, 0.000000, 0.000000, 0.000000, 0.000000
@@ Line 13: / Line 13: @@
 Below are code snippets in Python, MATLAB, and Mathematica that you can modify to create your own CSV files.
-[[Getting_Started_with_the_V-REP_Simulator|'''This page''']] contains information on getting started quickly with V-REP.  [[V-REP_Introduction|'''This page''']] contains a number of scenes that accept CSV file inputs for visualization of robot trajectories.
+[[Getting_Started_with_the_CoppeliaSim_Simulator|'''This page''']] contains information on getting started quickly with Coppelia.  [[CoppeliaSim_Introduction|'''This page''']] contains a number of scenes that accept CSV file inputs for visualization of robot trajectories.
 ===Python===

← Older revision		Revision as of 04:28, 4 July 2018
Line 1:		Line 1:
	[[image:~~youbot~~.~~jpg~~\|right]]		[[image:ur5-img.png\|right\|x200px]]

	Several of the V-REP simulation scenes require a plain-text comma-separated values (CSV) file as input. A CSV file may represent the trajectory of a robot, where each row contains the configuration of the robot at an instant in time, with a fixed time between each row. If the robot has <math>n</math> joints, then each row has <math>n</math> numbers separated by commas. For example, five rows of a CSV file for a six-joint robot might look like this:		Several of the V-REP simulation scenes require a plain-text comma-separated values (CSV) file as input. A CSV file may represent the trajectory of a robot, where each row contains the configuration of the robot at an instant in time, with a fixed time between each row. If the robot has <math>n</math> joints, then each row has <math>n</math> numbers separated by commas. For example, five rows of a CSV file for a six-joint robot might look like this:

@@ Line 1: / Line 1: @@
 [[image:youbot.jpg|right]]
-Several of the V-REP simulation scenes require a comma-separated values (CSV) file as input.  A CSV file may represent the trajectory of a robot, where each row contains the configuration of the robot at an instant in time, with a fixed time between each row.  If the robot has <math>n</math> joints, then each row has <math>n</math> numbers separated by commas.  For example, five rows of a CSV file for a six-joint robot might look like this:
+Several of the V-REP simulation scenes require a plain-text comma-separated values (CSV) file as input.  A CSV file may represent the trajectory of a robot, where each row contains the configuration of the robot at an instant in time, with a fixed time between each row.  If the robot has <math>n</math> joints, then each row has <math>n</math> numbers separated by commas.  For example, five rows of a CSV file for a six-joint robot might look like this:
 .950000, -1.570000, 0.000000, 0.000000, 0.000000, 0.000000
@@ Line 8: / Line 8: @@
 .062079, -1.481344, 0.059104, 0.059775, 0.037360, 0.029888
 .099002, -1.453174, 0.077884, 0.079468, 0.049667, 0.039734
+where each number is a joint angle in radians.
 Below are code snippets in Python, MATLAB, and Mathematica that you can modify to create your own CSV files.

@@ Line 54: / Line 54: @@
 ===MATLAB===
+ <nowiki>
+% Generate random 3x4 matrix of floats y, 3x1 vector of ints d
+y = rand(3, 4);
+d = randi([-100, 100], 3, 1);
+% Open a file for output
+% Overwrite
+f = fopen('output.csv', 'w');
+% Append
+%f = fopen('output.csv', 'a');
+% For loop running 3 times to print each csv row
+for i = 1: length(d)
+    fprintf(f, ' %10.6f, %10.6f, %10.6f, %10.6f, %d\n', y(i, :), d(i));
+end
+% Close file
+fclose(f);
+</nowiki>
+The code below is a somewhat simpler version.
+ <nowiki>
+% Generate random 3x4 matrix of floats y, 3x1 vector of ints d
+y = rand(3, 4);
+d = randi([-100, 100], 3, 1);
+% Set number precision
+y = round(y, 6);
+% Overwrite csv file
+csvwrite('output.csv', [y, d]);
+</nowiki>
 ===Mathematica===
+ <nowiki>
+(* Generate random 3x4 matrix of floats y,3x1 vector of ints d *)
+y = RandomReal[1, {3, 4}];
+d = RandomInteger[{-100, 100}, {3, 1}];
+(* Open a file for output *)
+(* Overwrite *)
+f = OpenWrite[FileNameJoin[{NotebookDirectory[], "output.csv"}]];
+(* Append *)
+(* \
+f=OpenAppend[FileNameJoin[{NotebookDirectory[],"output.csv"}]]; *)
+(* For loop running 3 times to print each csv row *)
+Do[WriteString[f,
+   ExportString[{Flatten[{SetAccuracy[y[[i, ;;]], 6], d[[i]]}]},
+    "CSV"]], {i, Length[d]}];
+(* Close file *)
+Close[f];
+</nowiki>
+The code below is a somewhat simpler version.
+ <nowiki>
+(* Generate random 3x4 matrix of floats y,3x1 vector of ints d *)
+y = RandomReal[1, {3, 4}];
+d = RandomInteger[{-100, 100}, {3, 1}];
+(* Set number precision *)
+y = SetAccuracy[y, 6];
+(* Overwrite csv file *)
+Export[FileNameJoin[{NotebookDirectory[], "output.csv"}],
+  ArrayFlatten[{{y, d}}], "CSV"];
+</nowiki>

@@ Line 3: / Line 3: @@
 Several of the V-REP simulation scenes require a comma-separated values (CSV) file as input.  A CSV file may represent the trajectory of a robot, where each row contains the configuration of the robot at an instant in time, with a fixed time between each row.  If the robot has <math>n</math> joints, then each row has <math>n</math> numbers separated by commas.  For example, five rows of a CSV file for a six-joint robot might look like this:
-.950000,-1.570000,0.000000,0.000000,0.000000,0.000000
+.950000, -1.570000, 0.000000, 0.000000, 0.000000, 0.000000
-.987484,-1.540050,0.019967,0.019992,0.012495,0.009996
+.987484, -1.540050, 0.019967, 0.019992, 0.012495, 0.009996
-.024875,-1.510399,0.039734,0.039933,0.024958,0.019967
+.024875, -1.510399, 0.039734, 0.039933, 0.024958, 0.019967
-.062079,-1.481344,0.059104,0.059775,0.037360,0.029888
+.062079, -1.481344, 0.059104, 0.059775, 0.037360, 0.029888
-.099002,-1.453174,0.077884,0.079468,0.049667,0.039734
+.099002, -1.453174, 0.077884, 0.079468, 0.049667, 0.039734
 Below are code snippets in Python, MATLAB, and Mathematica that you can modify to create your own CSV files.

@@ Line 30: / Line 30: @@
 # For loop running 3 times to print each csv row
 for i in range(len(d)):
-    output = " %9.5f, %9.5f, %9.5f, %9.5f, %d\n" % (y[i,0], y[i,1], y[i,2], y[i,3], d[i])
+    output = " %10.6f, %10.6f, %10.6f, %10.6f, %d\n" % (y[i,0], y[i,1], y[i,2], y[i,3], d[i])
     f.write(output)
 # close file
 f.close()
+</nowiki>
+The code below is a somewhat simpler version.
+ <nowiki>
+import numpy as np
+# Generate random 3x4 matrix of floats y, 3x1 vector of ints d
+y = np.random.rand(3, 4)
+d = np.random.randint(-100, 100, 3)
+# Set number precision
+y = np.round(y, 6)
+# Overwrite csv file
+np.savetxt("output.csv", np.asarray(np.c_[y, d]), delimiter = ",")
 </nowiki>