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aremazeilles / eurobench_documentation

Description of some Eurobench Benchmarking Software mechanisms
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Empty fields #29

Closed alfonsotecnalia closed 4 years ago

alfonsotecnalia commented 4 years ago

At this moment we have Wrench format but maybe some sensors only provide force information (no torque). What has to be inserted in the torque fields? More generic: What has to be inserted in those fields a sensor does not have information to fill?

I am in favour of using empty/blank because 0 could lead to confusion (it could be a .0 measurement) and 0/Nan applies to scalar fields (not used for strings)

m-lancini commented 4 years ago

blank works for me

aremazeilles commented 4 years ago

If we agree with the column labels, then, if a column has no data, I would not put the column in the file.

For the case you suggest, if only force is acquired, and no torque, I would only use columns time, force_x, force_y, force_z.

Similar issue could occur with joint angles or joint torques .... We will provide a model with all possible labels, but if an experiment does not record a given joint, I think it is useless to place that column in the file. Also it could help for verification in the PI algorithm. If an algo needs a given column, let's say torque_y, the algo can verify that torque_y column is present in the datafile. If it is not, it can directly return an error code.

m-lancini commented 4 years ago

That would be even better. The file could be just a subset of the required columns.

alfonsotecnalia commented 4 years ago

I agree