Feature request: signals to be logged

[S-Dafarra]

In order to improve the usability of the framework, I think it would be important to add this set of data to be logged:

• Log joint_state (of all joints) #122
  • position
  • velocity
  • acceleration
  • torque
• motor_state (of all motors) #123
  • position
  • velocity
  • acceleration
  • current
  • pwm
• Visualise inertials (from all IMUs) #124
  • rpy
  • gyro
  • accelerometer
• Visualise cartesian_wrenches (all those computed by WBD) #125
• Visualise FT_sensors #126
  • FT
• Visualise the temperature from the FT sensors #141
  • temperature
• Fix problems found when testing added logged signals (IMUs, End Effector Wrenches, FTs) #139
• Add the possibility to log the YarpTextLogging #138
• Create telemetry sub-folders in "iCub Telemetry" dictionary #133
• Improve the handling of the robot dependant configuration #137 Moved out of the Epic.

This is the list of things we are currently logging for offline testing. Reference code: https://github.com/ami-iit/bipedal-locomotion-framework/tree/dc113093d2467e854a2b1427265af55f559f13d0/devices/YarpRobotLoggerDevice

Let me remark that this data might be robot-dependent. For example, the lists of FTs and cartesian_wrenches depend on the robot.

Moreover, we might need to add more data in the future.

cc @nunoguedelha @traversaro

[S-Dafarra]

It might also be useful to log the text log coming from the modules. In general anyway, it would be nice to have a shared interface between the online and offline logging.

cc @GiulioRomualdi

[GiulioRomualdi]

For the TextLogging I took inspiration from what is done in YarpManager. ami-iit/bipedal-locomotion-framework#546

[nunoguedelha]

For the TextLogging I took inspiration from what is done in YarpManager. ami-iit/bipedal-locomotion-framework#546

@GiulioRomualdi , I guess you meant more specifically ami-iit/bipedal-locomotion-framework#541.

[nunoguedelha]

@S-Dafarra , I've added the following bullets/issues in the description according to your comments:

• Improve the handling of the robot dependant configuration
• Add the possibility to log the YarpTextLogging

[nunoguedelha]

@S-Dafarra , I had already added #133 to this epic, and just added it to the issue description.

Also added the issue #139 fixing the problems we ran into during the last test session on Friday.

[nunoguedelha]

Since #137 is in Backlog and not the top priority right now, I'm moving it out of the Epic for being able to close it.

[nunoguedelha]

If it's ok with you @S-Dafarra , I would close this Epic.

[S-Dafarra]

I agree. Great work!