Code

Draw log data to SVG for papers#376

Code

Merged

calvertdw merged 56 commits intodevelopihmcrobotics/ihmc-open-robotics-software:developfrom feature/log-data-to-svgihmcrobotics/ihmc-open-robotics-software:feature/log-data-to-svgCopy head branch name to clipboardFeb 3, 2025

+2,438-10

Commits

Commits on Jan 28, 2025

• Add SCS 2 log data processor and generate SVG file of CoM trajectory.

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• Plot the CoM trajectory and get it loading in Inkscape.

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• Flip Y, plot footsteps.

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• Use better method for detecting footsteps and separate SVG from data recording.

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• Add a UI to manage logs.

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• Making progress on log scrubber.

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• Iterate on log data processing.

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• Clean up code to add more stuff.

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• Add working counter mismatch & number of walks.

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• Rename foot state class.

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• Separating walks.

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• Load stats after writing them.

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• Fix stop processing.

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• Add process all button.

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• Print and layout.

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• Fix up SVG rendering.

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• Improve plot visuals and plot ICP

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• Add arm joint positions.

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• Adding joint tracker.

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• Sort log directories.

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• Add legend.

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• Extract overhead SVG plot.

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• Homogenize naming.

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• Add matplotlib4j

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• Add times, save CSV pelvis poses, fix process all bug.

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• Draw footstep indexes.

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• Work on extracting pelvis progress w.r.t. door frame.

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• Finish up on door progress plots.

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• Gather hand frames.

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• Record hand poses to CSV.

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• Plot hand data.

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• Drawing behavior tree to SVG.

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• Drawing behavior trees to SVG.

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• Drawing action sequence SVG.

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• Lay out the concurrency.

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• Cascade the sequence.

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• A few edits of SVG stuff.

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• Restructuring SVG to prepare to draw it differently.

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• Add node depth method.

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• Add code before removing commented code.

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• Tool to get child index.

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• Building figures that fit in paper.

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• Start adding timeline of concurrent actions.

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• Code for not drawing the boxes.

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• Calculate RMS for ICP X, Y error.

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• Remove unused imports.

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• Prevent no hand error. Setting up for plotting step timings, ICP error.

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• Fix writing to CSV for new log.

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• Write foot state changes to CSV.

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• Plot step states.

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• Aggregate foot swing durations.

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• Plot swing durations over time.

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• Plot double support durations.

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• Plotting swing & transfer desireds and combining them into one plot.

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• Plot ICP error.

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• Add documentation.

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