#!/usr/bin/zsh


#/* LICENSE:
#  =========================================================================
#    CMPack'04 Source Code Release for OPEN-R SDK 1.1.5-r2 for ERS7
#    Copyright (C) 2004 Multirobot Lab [Project Head: Manuela Veloso]
#    School of Computer Science, Carnegie Mellon University
#    All rights reserved.
#  ========================================================================= */


if [[ ! -f $1 ]] then
  echo "usage: dump_motion_file <blah.mot>";
  exit 1;
fi

fmt="\
body loc = %g %g %g@\
body angle = %g %g %g@\
leg 0: attr     = %d@\
leg 0: reserved = %d@\
leg 0: pos      = %g %g %g@\
leg 0: angles   = %g %g %g@\
leg 1: attr     = %d@\
leg 1: reserved = %d@\
leg 1: pos      = %g %g %g@\
leg 1: angles   = %g %g %g@\
leg 2: attr     = %d@\
leg 2: reserved = %d@\
leg 2: pos      = %g %g %g@\
leg 2: angles   = %g %g %g@\
leg 3: attr     = %d@\
leg 3: reserved = %d@\
leg 3: pos      = %g %g %g@\
leg 3: angles   = %g %g %g@\
head: attr     = %d@\
head: reserved = %d@\
head: pos      = %g %g %g@\
head: angles   = %g %g %g@\
mouth: attr     = %d@\
mouth: reserved = %d@\
mouth: angles   = %g@\
@\
time     = %d@\
reserved = %d@\
@\
"

hexdump -v -s 4 -e \"$fmt\" $1 | sed -e 's/@/\n/g'
