Update YarpRobotLoggerDevice documentation (#472)

* Update YarpRobotLoggerDevice documentation

CHANGELOG.md

@@ -23,6 +23,7 @@ All notable changes to this project are documented in this file.
 `System::ITaskControlMode`, `TSID::TSIDLinearTask` and `IK::IKLinearTask` classes (https://github.com/ami-iit/bipedal-locomotion-framework/pull/480)
 - The joint torques is now correctly retrieved in QPTSID class (https://github.com/ami-iit/bipedal-locomotion-framework/pull/482)
 - The motor velocity and positions are now returned in rad/s and rad (https://github.com/ami-iit/bipedal-locomotion-framework/pull/489)
+- Fix `YarpRobotLoggerDevice` documentation (https://github.com/ami-iit/bipedal-locomotion-framework/pull/472)
 
 ## [0.5.0] - 2021-11-30
 ### Added

devices/YarpRobotLoggerDevice/README.md

@@ -1,47 +1,58 @@
-### iCubGenova04 strain2 FT-IMU logger
+# YARPRobotLoggerDevice
 
-A logger device based on `YarpSensorBridge` and `matioCpp` to record dataset from strain2 sensor boards mounted on the iCubGenova04 robot.
+The **YARPRobotLoggerDevice** is a YARP device based on `YarpSensorBridge` and `matioCpp` to record dataset from a YARP-based robot.
 
 
 
-### Launching
+## :running: How to use the device
 
-- Launch yarprobotinterface on the robot with `icub_wbd_inertials.xml`
+- Launch `yarprobotinterface` on the robot.
 
-  ```
-  yarprobotinterface --config icub_wbd_inertials.xml
-  ```
+  Depending on your logger configuration file and on the data you want to collect you should run the main `yarprobotinterface` with a different option. In order to use the [defaul logger configuration files](./app/robots), use the following commands:
+  - **iCubGenova04**
+
+    launch the `yarprobotinterface` with the `root_imu` device on the robot head
+    ```
+    yarprobotinterface --config icub_wbd_inertials.xml
+    ```
+  - **iCubGazeboV3**
 
-- Launch the FT-IMU logger device,
+    open the robot model in gazebo and launch `whole-body-dynamics`
+    ```
+    YARP_ROBOT_NAME=iCubGazeboV3 yarprobotinterface --config launch-wholebodydynamics.xml
+    ```
+    in case you started gazebo with the real-time clock option (`gazebo -slibgazebo_yarp_clock.so`) add `YARP_CLOCK=/clock` to the previous command.
+    ```
+    YARP_CLOCK=/clock YARP_ROBOT_NAME=iCubGazeboV3 yarprobotinterface --config launch-wholebodydynamics.xml
+    ```
+
+- Launch the logger device.
+
+  In order to use the [defaul logger configuration files](./app/robots), set the `YARP_ROBOT_NAME` environment variable and launch the `yarprobotinterface` as follow
   ```
-  YARP_ROBOT_NAME=iCubGenova04 yarprobotinterface --config launch-ft-imu-logger.xml
+  yarprobotinterface --config launch-yarp-robot-logger.xml
   ```
 
 - Press Ctrl+c to close the device, and the dataset is stored as the device is closed.
 
- Each dataset contains,
-
- - a `time` vector with the receive time stamps.
- - a struct for each strain-2 sensor attached on the robot (`l_foot_ft_imu`, `r_foot_ft_imu`, `r_leg_ft_imu`, `l_leg_ft_imu`) with each struct containing the corresponding FT sensor measurement, accelerometer, gyroscope and orientation sensor measurements.
-
-Associated sensors,
-- `l_leg_ft_imu`
-    - FT: `l_leg_ft_sensor`
-    - acc: `l_upper_leg_ft_acc_3b12`
-    - gyro: `l_upper_leg_ft_gyro_3b12`
-    - orientation: `l_upper_leg_ft_eul_3b12`
-- `l_foot_ft_imu`
-    - FT: `l_foot_ft_sensor`
-    - acc: `l_foot_ft_acc_3b13`
-    - gyro: `l_foot_ft_gyro_3b13`
-    - orientation: `l_foot_ft_eul_3b13`
-- `r_leg_ft_imu`
-    - FT: `r_leg_ft_sensor`
-    - acc: `r_upper_leg_ft_acc_3b11`
-    - gyro: `r_upper_leg_ft_gyro_3b11`
-    - orientation: `r_upper_leg_ft_eul_3b11`
-- `r_foot_ft_imu`
-    - FT: `r_foot_ft_sensor`
-    - acc: `r_foot_ft_acc_3b14`
-    - gyro: `r_foot_ft_gyro_3b14`
-    - orientation: `r_foot_ft_eul_3b14`
+## 💾 Data
+
+ Depending on the configuration file, each dataset can contain:
+ - `time` vector with the YARP clock time stamps.
+ - `joint_state` that containins
+   - `joints`: name of the joints
+   - `joint_positions`
+   - `joint_velocities`
+   - `joint_torques`
+- `Motor_state` that contains
+  - `motor_currents`
+  - `motor_velocities`
+  - `motor_positions`
+- `PID`
+- `Motor_PWM`
+- `Accelerometer` struct containing data for each selected source.
+- `CartesianWrench` struct containing data for each selected source.
+- `FT` struct containing data for each selected source.
+- `Gyros` struct containing data for each selected source.
+- `Orientation` struct containing data for each selected source as roll-pitch-yaw euler angles.
+