Data Visualization

[mposa]

Per a group meeting discussion, we laid out a number of goals for data visualization and the outline of a path forward.

Goals

• Save and load trajectory sets (a map from a string name to a saved trajectory object). Adding skeleton code for saving/loading trajectories #104

  • Each saved trajectory would be
    • A VectorXd of times
    • A MatrixXd of data points
    • A vector of strings, naming the rows of the data matrix
    • The string name of the trajectories (also the map key)
  • A saved trajectory set would also include meta data
    • Date/time
    • Name
    • Description
    • Git commit number (to be parsed automatically)
    • Git dirty flag (parsed automatically, true if there are uncommitted changes)

• Visualize a saved trajectory

  • Maybe eventually visualize multiple trajectories

• Visualize single and multiple saved states

  • Multipose visualization Add utility class to simultaneously visualize multiple robot poses and DIRCON callback. #144

• Visualize kinematics

  • Points (as points) and axes Joan shaho vis gui #174
  • Vectors as arrows

• Trace forward kinematic paths over trajectories

• Plot trajectories (matplotlib)

• Plot forward kinematic trajectories

[yminchen]

Just throwing out an idea: visualizing the planned trajectory online (e.g. COM trajectory, swing foot trajectory) like what Agility Robotics does in this video: https://youtu.be/2CYOrkwJzag

[mposa]

Some of this list has been addressed. I've updated the main comment accordingly. @yminchen @Jianshu-Hu @yangwill I'm guessing you're using some mechanism to visualize saved trajectories. Is this something in master that we can point to?

[yangwill]

The feature exists in master and can be seen in run_dircon_jumping.cc and visualize_trajectory.cc in examples/Cassie/. However it requires a decent amount of boilerplate code, so I'm working on creating a specific API for saving/loading/visualizing dircon trajectories.