Improve the data logging in the balancing-position-control

ami-iit · Aug 3, 2023 · 41cc906 · 41cc906
1 parent bb13cb1
commit 41cc906
Showing 1 changed file with 15 additions and 13 deletions.
diff --git a/utilities/balancing-position-control/script/blf-balancing-position-control.py b/utilities/balancing-position-control/script/blf-balancing-position-control.py
@@ -373,7 +373,7 @@ def main():
         ):
             raise RuntimeError("Unable to set the references")
 
-      
+
         local_zmp_left, _ = evaluate_local_zmp(
             wrench=left_wrench, contact_force_threshold=contact_force_threshold
         )
@@ -383,20 +383,22 @@ def main():
         com_from_desired = kindyn.getCenterOfMassPosition().toNumPy()
         com_from_measured = kindyn_with_measured.getCenterOfMassPosition().toNumPy()
 
-
-
         data = port.prepare()
+
         data.vectors = {
-            "desired_zmp": desired_zmp,
-            "global_zmp": global_zmp,
-            "global_zmp_from_measured": global_zmp_from_measured,
-            "local_zmp_left": local_zmp_left,
-            "local_zmp_right": local_zmp_right,
-            "estimated_com_from_desired": com_from_desired,
-            "estimated_com_from_measured": com_from_measured,
-            "com_desired_position": com_spline_output.position,
-            "com_desired_velocity": com_spline_output.velocity,
-            "com_desired_acceleration": com_spline_output.acceleration,
+            "zmp::desired_planner": desired_zmp,
+            "zmp::measured::global::with_joint_desired": global_zmp,
+            "zmp::measured::global::with_joint_measured": global_zmp_from_measured,
+            "zmp::measured::local::left": local_zmp_left,
+            "zmp::measured::local::right": local_zmp_right,
+            "com::measured::with_joint_desired": com_from_desired,
+            "com::measured::with_joint_measured": com_from_measured,
+            "com::planned::position": com_spline_output.position,
+            "com::planned::velocity": com_spline_output.velocity,
+            "com::planned::acceleration": com_spline_output.acceleration,
+            "com::com_zmp::position": desired_com_position,
+            "com::com_zmp::velocity": desired_com_velocity,
+            "joints::desired::position": desired_joint_positions,
         }
         port.write()