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Feature request: signals to be logged #121
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It might also be useful to log the text log coming from the modules. In general anyway, it would be nice to have a shared interface between the online and offline logging. |
For the TextLogging I took inspiration from what is done in YarpManager. ami-iit/bipedal-locomotion-framework#546 |
@GiulioRomualdi , I guess you meant more specifically ami-iit/bipedal-locomotion-framework#541. |
@S-Dafarra , I've added the following bullets/issues in the description according to your comments:
|
@S-Dafarra , I had already added #133 to this epic, and just added it to the issue description. Also added the issue #139 fixing the problems we ran into during the last test session on Friday. |
Since #137 is in Backlog and not the top priority right now, I'm moving it out of the Epic for being able to close it. |
If it's ok with you @S-Dafarra , I would close this Epic. |
I agree. Great work! |
In order to improve the usability of the framework, I think it would be important to add this set of data to be logged:
joint_state
(of all joints) #122position
velocity
acceleration
torque
motor_state
(of all motors) #123position
velocity
acceleration
current
pwm
inertials
(from all IMUs) #124rpy
gyro
accelerometer
cartesian_wrenches
(all those computed by WBD) #125FT_sensors
#126FT
temperature
Improve the handling of the robot dependant configuration #137Moved out of the Epic.This is the list of things we are currently logging for offline testing. Reference code: https://github.com/ami-iit/bipedal-locomotion-framework/tree/dc113093d2467e854a2b1427265af55f559f13d0/devices/YarpRobotLoggerDevice
Let me remark that this data might be robot-dependent. For example, the lists of
FT
s andcartesian_wrenches
depend on the robot.Moreover, we might need to add more data in the future.
cc @nunoguedelha @traversaro
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