Open traversaro opened 2 years ago
Related:
@isorrentino worked in this direction from the BipedalLocomotionFramework side. A PR is open in BLF: https://github.com/ami-iit/bipedal-locomotion-framework/pull/405
A PR is open in BLF: ami-iit/bipedal-locomotion-framework#405
The idea is that by logging directly in WBD, we can log quantities that are not available otherwise (for example input quantities after the filter).
As mentioned in https://github.com/robotology/whole-body-estimators/issues/119, it often happens that the estimation provides unexpected values. It would be great to modify
wholebodydynamics
to sistematically log relevant data, to easily debug estimation problems.Ideally, the data logged could go in the same file created by the
telemetryDeviceDumper
YARP device provided byyarp-telemetry
, to automatically synchronize it with sensor measures. A possible strategy (but possible alternative strategy are welcome) is to:telemetryDeviceDumper
to expose a C++ YARP device interface that can be used by arbitrary devices to log variables without the need to modifytelemetryDeviceDumper
(telemetryDeviceDumper
just need to be manually modified for devices that we don't want to modify, for example because they are hosted in YARP and this would create a circular dependency.telemetryDeviceDumper
exposes the necessary interfaces, modify the wbd device to (optinally) log its data via this interface.