Make HumanLogger compatible with `robot-log-visualizer`

[lrapetti]

Making the HumanLogger data compatible with https://github.com/ami-iit/robot-log-visualizer would enable a quick analysis of the data.

In order to do so, we should simply modify the naming of some of the saved variables.

cc @GiulioRomualdi @RiccardoGrieco @Zweisteine96

[S-Dafarra]

I guess that the main difference is how the joint values are parsed, right?

[lrapetti]

I did a first preliminary investigation managing to modify an old human dataset in order to open it in the logger:

https://user-images.githubusercontent.com/35487806/218443056-2b7d277a-9f30-4eb6-ba1f-88a4ab617884.mov

The used datase is the following:

• original dataset: human_data_1674809825.253827.mat.zip
• modified dataset: human_logger.mat.zip

The main changes I had to do are the following:

• change the data-struct name from human_data into robot_logger_device
• move joint configuration from human_data.human_state.base_position into joints_state.positions
• Added description_list with the list of joint names (in the original file this was empty)
• Added yarp_robot_name that was empty in the original file

(note that in order to properly save the modified from matlab, such that I was able to open it in the logger, I had to follow: https://github.com/h5py/h5py/issues/757#issuecomment-823757614)

Form the video we can observe there are still two major issue:

• time seems to be slower then expected
• other data are not properly loaded (we see #subsistem# in the data list)

[S-Dafarra]

• change the data-struct name from human_data into robot_logger_device
• move joint configuration from human_data.human_state.base_position into joints_state.positions

It would be interesting to have the visualizer flexible on this. Ideally, we should be able to specify in some way which data to consider to visualize the robot

• Added description_list with the list of joint names (in the original file this was empty)
• Added yarp_robot_name that was empty in the original file

Similarly, we could ask the user to insert the robot name if missing, and assume a specific joint list.

Form the video we can observe there are still two major issue:

• time seems to be slower then expected
• other data are not properly loaded (we see #subsistem# in the data list)

Maybe it is worth checking with a robot log file and see if the same issue occurs

[lrapetti]

• change the data-struct name from human_data into robot_logger_device
• move joint configuration from human_data.human_state.base_position into joints_state.positions

It would be interesting to have the visualizer flexible on this. Ideally, we should be able to specify in some way which data to consider to visualize the robot

• Added description_list with the list of joint names (in the original file this was empty)
• Added yarp_robot_name that was empty in the original file

Similarly, we could ask the user to insert the robot name if missing, and assume a specific joint list.

Concerning those points, if you think might be a good add-on, in the long term we can try to address those additions @GiulioRomualdi @S-Dafarra

Form the video we can observe there are still two major issue:

• time seems to be slower then expected
• other data are not properly loaded (we see #subsistem# in the data list)

Maybe it is worth checking with a robot log file and see if the same issue occurs

I had no problem in opening a regular robot dataset (even when the human model was selected)

[davidegorbani]

I opened the branch update_HumanLogger to modify the logger; what I did was to follow what @lrapetti did here:

The main changes I had to do are the following:

* change the data-struct name from `human_data` into `robot_logger_device`

* move joint configuration from `human_data.human_state.base_position` into `joints_state.positions`

* Added `description_list` with the list of joint names (in the original file this was empty)

* Added `yarp_robot_name` that was empty in the original file

Now the file logged can be directly uploaded in the robot-log-visualizer whiteout doing any modifications. Here is an example of a dataset that I logged:

robot_logger_device_1696949792.014883.zip

[lrapetti]

I opened the branch update_HumanLogger to modify the logger; what I did was to follow what @lrapetti did here:

The main changes I had to do are the following:

* change the data-struct name from `human_data` into `robot_logger_device`

* move joint configuration from `human_data.human_state.base_position` into `joints_state.positions`

* Added `description_list` with the list of joint names (in the original file this was empty)

* Added `yarp_robot_name` that was empty in the original file

Now the file logged can be directly uploaded in the robot-log-visualizer whiteout doing any modifications. Here is an example of a dataset that I logged:

robot_logger_device_1696949792.014883.zip

Those changes are quite relevant for all the people that are currently processing datasets acquired with human-dynamics-estimation software (e.g. @claudia-lat @LorenzoFiori @AntonellaTatarelli), and that then will require to change their processing software accordingly. Please let us know if you have something against those modifications, in particular:

• change the data-struct name from human_data into robot_logger_device
• move joint configuration from human_data.human_state.base_position into joints_state.positions

My idea is to eventually have a major release once this feature is merged (see https://github.com/robotology/human-dynamics-estimation/issues/373).

cc @evalli-iit @traversaro @Gianlucamilani @dariosortino @GiulioRomualdi

[traversaro]

Probably at this point we may want to document this "protocol" (i.e. the name of variables in the .mat files) as now is not implemented only in blf/log-visualizer.

[lrapetti]

Probably at this point we may want to document this "protocol" (i.e. the name of variables in the .mat files) as now is not implemented only in blf/log-visualizer.

@traversaro do you mean documenting it within the context of this repo, or in a general entry-point?

[traversaro]

Probably at this point we may want to document this "protocol" (i.e. the name of variables in the .mat files) as now is not implemented only in blf/log-visualizer.

@traversaro do you mean documenting it within the context of this repo, or in a general entry-point?

I mean somewhere, probably as at the moment we have many "writer" and only one " reader", the reader is the winner, so the best place were to write this may be https://github.com/ami-iit/robot-log-visualizer .

[lrapetti]

Those changes are quite relevant for all the people that are currently processing datasets acquired with human-dynamics-estimation software (e.g. @claudia-lat @LorenzoFiori @AntonellaTatarelli), and that then will require to change their processing software accordingly. Please let us know if you have something against those modifications, in particular:

• change the data-struct name from human_data into robot_logger_device
• move joint configuration from human_data.human_state.base_position into joints_state.positions

My idea is to eventually have a major release once this feature is merged (see #373).

cc @evalli-iit @traversaro @Gianlucamilani @dariosortino @GiulioRomualdi

Ping to @claudia-lat @LorenzoFiori @AntonellaTatarelli @evalli-iit @dariosortino @Gianlucamilani in case you have anything against it, otherwise we can proceed merging this week.