Visualization tools useful for balancing

[serena-ivaldi]

We need some graphical visualization tools for balancing experiments.

For example:

• visualizing ZMP, COP, COM, forces
• visualizing torques in main limbs (at least have an idea if we are close to torques_max)
• external forces

Should we integrate those tools in the iCub_GUI? Or make new tools? Or use matlab?

[francesco-romano]

I think the fastest solution (waiting for better tools) is to use simulink.

You can use the blocks in the wbi toolbox (such as COM, robot state, etc) or use the yarp read block to read “generic” data from the controller and then plot them in the scope or same them to the workspace for later analysis.

[traversaro]

cc: @rlober @darwinlau @azadm @arocchi .

[serena-ivaldi]

aren't there tools in ROS that we can re-use?

[EnricoMingo]

rviz + robot_state_publisher + you have to write a node that publish other extra information such as COM etc... I did a robot_state_publisher_ext for such information but actually is in our private gitlab.

[randaz81]

Uhm, If you just need to draw arrows, text and coulored markers, everything is already available in icub_gui... there is also an example in contrib which displays the com sending its coords to the gui through a port, do you remember? you can extend that code, its extremely simple! Il 02/ago/2014 09:47 "EnricoMingo" notifications@github.com ha scritto:

rviz + robot_state_publisher + you have to write a node that publish other extra information such as COM etc... I did a robot_state_publisher_ext for such information but actually is in our private gitlab.

— Reply to this email directly or view it on GitHub https://github.com/robotology/codyco-superbuild/issues/20#issuecomment-50956833 .

[DanielePucci]

I would go for Simulink, as francesco said.

[EnricoMingo]

Sorry I replied but can not see my message. I suggest RVIZ + robot_state_publisher. For the CoM you need someone that publish for you this information in tf, I have done a robot_state_publisher_ext that publish such information. Best,

Erico

2014-08-02 14:55 GMT+02:00 Daniele notifications@github.com:

I would go for Simulink, as francesco said.

— Reply to this email directly or view it on GitHub https://github.com/robotology/codyco-superbuild/issues/20#issuecomment-50962136 .

Ing. Mingo Enrico Hoffman Istituto Italiano di Tecnologia, Genova

[traversaro]

rviz and (to a much lesser extent) iDynTree visualizer are currently being used for visualization. Other useful software for robotics visualization are:

• VTK : https://www.vtk.org/
• MeshCat : https://github.com/rdeits/meshcat
• Vizkit3D : https://www.rock-robotics.org/stable/documentation/graphical_user_interface/450_vizkit3d.html

Closing as this issue stopped being useful for brainstorming several years ago.