From 6b6e7b92d903e47a41bbd806956f67c2dec944a4 Mon Sep 17 00:00:00 2001 From: Lorenzo Date: Wed, 1 Dec 2021 19:03:34 +0100 Subject: [PATCH 1/8] Update YarpRobotLoggerDevice documentation --- devices/YarpRobotLoggerDevice/README.md | 63 +++++++++++-------------- 1 file changed, 27 insertions(+), 36 deletions(-) diff --git a/devices/YarpRobotLoggerDevice/README.md b/devices/YarpRobotLoggerDevice/README.md index 6c8f59c641..c7b79adc37 100644 --- a/devices/YarpRobotLoggerDevice/README.md +++ b/devices/YarpRobotLoggerDevice/README.md @@ -1,47 +1,38 @@ -### 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 +- Launch the logger device after properly setting the `YARP_ROBOT_NAME` environment variable ``` - yarprobotinterface --config icub_wbd_inertials.xml - ``` - -- Launch the FT-IMU logger device, - ``` - 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 receive 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. + From bc75b7b0181114f0fa00648f6fc9186b5ab9368e Mon Sep 17 00:00:00 2001 From: Lorenzo Rapetti Date: Wed, 1 Dec 2021 19:10:57 +0100 Subject: [PATCH 2/8] Update CHANGELOG.md --- CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 4f892d76f8..86019890cc 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -22,6 +22,7 @@ All notable changes to this project are documented in this file. - Add virtual destrutors in `System::Sink`, `System::Source`, `System::LinearTask`, `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) +- Fix `YarpRobotLoggerDevice` documentation (https://github.com/ami-iit/bipedal-locomotion-framework/pull/472) ## [0.5.0] - 2021-11-30 ### Added From 724f559b91b73cc9a839f81ce5172569ecbc5e8a Mon Sep 17 00:00:00 2001 From: Lorenzo Rapetti Date: Thu, 2 Dec 2021 13:50:46 +0100 Subject: [PATCH 3/8] Update devices/YarpRobotLoggerDevice/README.md Co-authored-by: Giulio Romualdi --- devices/YarpRobotLoggerDevice/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/devices/YarpRobotLoggerDevice/README.md b/devices/YarpRobotLoggerDevice/README.md index c7b79adc37..6d93968528 100644 --- a/devices/YarpRobotLoggerDevice/README.md +++ b/devices/YarpRobotLoggerDevice/README.md @@ -15,7 +15,7 @@ The **YARPRobotLoggerDevice** is a YARP device based on `YarpSensorBridge` and ` - Press Ctrl+c to close the device, and the dataset is stored as the device is closed. -## Data +## 💾 Data Depending on the configuration file, each dataset can contain: - `time` vector with the receive time stamps. From 91c9670fc7590ca766ba3b8130d0d0dcbc3b54e7 Mon Sep 17 00:00:00 2001 From: Lorenzo Rapetti Date: Thu, 2 Dec 2021 14:21:09 +0100 Subject: [PATCH 4/8] Update README.md --- devices/YarpRobotLoggerDevice/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/devices/YarpRobotLoggerDevice/README.md b/devices/YarpRobotLoggerDevice/README.md index 6d93968528..c94a01650b 100644 --- a/devices/YarpRobotLoggerDevice/README.md +++ b/devices/YarpRobotLoggerDevice/README.md @@ -18,7 +18,7 @@ The **YARPRobotLoggerDevice** is a YARP device based on `YarpSensorBridge` and ` ## 💾 Data Depending on the configuration file, each dataset can contain: - - `time` vector with the receive time stamps. + - `time` vector with the YARP clock time stamps. - `joint_state` that containins - `joints`: name of the joints - `joint_positions` From ff3e332a43761e803f063d062987a9ab7e88f455 Mon Sep 17 00:00:00 2001 From: Lorenzo Date: Tue, 14 Dec 2021 15:25:39 +0100 Subject: [PATCH 5/8] Update YarpRobotLoggerDevice documentation --- devices/YarpRobotLoggerDevice/README.md | 22 +++++++++++++++++++--- 1 file changed, 19 insertions(+), 3 deletions(-) diff --git a/devices/YarpRobotLoggerDevice/README.md b/devices/YarpRobotLoggerDevice/README.md index c94a01650b..851f29b84a 100644 --- a/devices/YarpRobotLoggerDevice/README.md +++ b/devices/YarpRobotLoggerDevice/README.md @@ -6,9 +6,25 @@ The **YARPRobotLoggerDevice** is a YARP device based on `YarpSensorBridge` and ` ## :running: How to use the device -- Launch yarprobotinterface on the robot - -- Launch the logger device after properly setting the `YARP_ROBOT_NAME` environment variable +- Launch `yarprobotinterface` on the robot. + 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** + 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 ``` yarprobotinterface --config launch-yarp-robot-logger.xml ``` From e9716e3c749b7079d7ced97b4b5d68eee4296847 Mon Sep 17 00:00:00 2001 From: Lorenzo Rapetti Date: Tue, 14 Dec 2021 15:55:29 +0100 Subject: [PATCH 6/8] Improve spacing in YarpRobotLoggerDevice README.md --- devices/YarpRobotLoggerDevice/README.md | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/devices/YarpRobotLoggerDevice/README.md b/devices/YarpRobotLoggerDevice/README.md index 851f29b84a..a5f72b6c73 100644 --- a/devices/YarpRobotLoggerDevice/README.md +++ b/devices/YarpRobotLoggerDevice/README.md @@ -7,13 +7,16 @@ The **YARPRobotLoggerDevice** is a YARP device based on `YarpSensorBridge` and ` ## :running: How to use the device - Launch `yarprobotinterface` on the robot. + 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** + open the robot model in gazebo and launch `whole-body-dynamics` ``` YARP_ROBOT_NAME=iCubGazeboV3 yarprobotinterface --config launch-wholebodydynamics.xml @@ -24,6 +27,7 @@ The **YARPRobotLoggerDevice** is a YARP device based on `YarpSensorBridge` and ` ``` - 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 ``` yarprobotinterface --config launch-yarp-robot-logger.xml @@ -44,7 +48,7 @@ The **YARPRobotLoggerDevice** is a YARP device based on `YarpSensorBridge` and ` - `motor_currents` - `motor_velocities` - `motor_positions` -- `PID` +- `PID` - `Motor_PWM` - `Accelerometer` struct containing data for each selected source. - `CartesianWrench` struct containing data for each selected source. From d09af51690a8aa83e9ea3d684b43e59bc2d98582 Mon Sep 17 00:00:00 2001 From: Lorenzo Rapetti Date: Wed, 15 Dec 2021 10:08:18 +0100 Subject: [PATCH 7/8] Remove trailing whitespace --- devices/YarpRobotLoggerDevice/README.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/devices/YarpRobotLoggerDevice/README.md b/devices/YarpRobotLoggerDevice/README.md index a5f72b6c73..4be7a31103 100644 --- a/devices/YarpRobotLoggerDevice/README.md +++ b/devices/YarpRobotLoggerDevice/README.md @@ -7,16 +7,16 @@ The **YARPRobotLoggerDevice** is a YARP device based on `YarpSensorBridge` and ` ## :running: How to use the device - Launch `yarprobotinterface` on the robot. - + 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** - + open the robot model in gazebo and launch `whole-body-dynamics` ``` YARP_ROBOT_NAME=iCubGazeboV3 yarprobotinterface --config launch-wholebodydynamics.xml @@ -27,7 +27,7 @@ The **YARPRobotLoggerDevice** is a YARP device based on `YarpSensorBridge` and ` ``` - 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 ``` yarprobotinterface --config launch-yarp-robot-logger.xml From 87d4ec6cfa2d801c291560f11381ac4cdf8ab477 Mon Sep 17 00:00:00 2001 From: Lorenzo Rapetti Date: Wed, 15 Dec 2021 10:10:13 +0100 Subject: [PATCH 8/8] Remove trailing whitespace --- devices/YarpRobotLoggerDevice/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/devices/YarpRobotLoggerDevice/README.md b/devices/YarpRobotLoggerDevice/README.md index 4be7a31103..5bd99e35c2 100644 --- a/devices/YarpRobotLoggerDevice/README.md +++ b/devices/YarpRobotLoggerDevice/README.md @@ -10,13 +10,13 @@ The **YARPRobotLoggerDevice** is a YARP device based on `YarpSensorBridge` and ` 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** - + open the robot model in gazebo and launch `whole-body-dynamics` ``` YARP_ROBOT_NAME=iCubGazeboV3 yarprobotinterface --config launch-wholebodydynamics.xml