Closed S-Dafarra closed 1 year ago
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.
cc @GiulioRomualdi
For the TextLogging I took inspiration from what is done in YarpManager. https://github.com/ami-iit/bipedal-locomotion-framework/pull/546
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 https://github.com/ami-iit/bipedal-locomotion-framework/pull/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:
position
velocity
acceleration
torque
position
velocity
acceleration
current
pwm
rpy
gyro
accelerometer
FT
temperature
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