2020-01-27 12:44:26 +00:00
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function out = parseURData(file, int_idx, fnl_idx)
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% ----------------------------------------------------------------------
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% The function loads csv file "file" obtained from UR10E and parses it
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% Inputs:
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% file - name of the file
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% int_idx - index which is assumed to be the first one, used to
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% delete garbage or unneseccary data
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% fnl_idx - index which is assumed to be the final, severs the same
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% purpose as int_idx
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% Ouputs:
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% out.t - time
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% out.q - generilized positions of the joints
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% out.qd - generilized velocities of the joints
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% out.i - motor current of each joint motor
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2021-04-10 09:46:14 +00:00
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% out.i_des - desired current of each joint motor
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% out.tau_des - desired torque of each joint motor
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2020-01-27 12:44:26 +00:00
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% ----------------------------------------------------------------------
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traj = load(file);
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out = struct;
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out.t = traj(int_idx:fnl_idx,1) - traj(int_idx,1);
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out.q = traj(int_idx:fnl_idx,2:7);
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out.qd = traj(int_idx:fnl_idx,8:13);
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out.i = traj(int_idx:fnl_idx,14:19);
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out.i_des = traj(int_idx:fnl_idx,20:25);
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out.tau_des = traj(int_idx:fnl_idx,26:31);
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