icub-base-estimation-datasets

Repository to collect, store and parse data sets collected on iCub through YARP interface for State Estimation experiments.

Overview

In this repository, we collect and store data sets through the YARP interface for offline processing mainly aimed for state estimation. These data sets will be mainly collected for different trials of walking experiments, so that they can be readily fed into estimation algorithms for rapid testing and validation offline. The data collection is done using yarpdatadumper in a way that they can be played like rosbag using the yarpdataplayer.

This repository will also include Matlab and C++ parser, which can be readily used.

The data sets, in general would include,

• Joint state information
  • joint positions,
  • joint velocities (computed),
  • estimated joint torques,
  • currents (optional)
• Head IMU measurements and calibrated stereo camera images
• Waist IMU measurements
• Six axis FT sensor measurements (feet, legs, arms)[measured/post-WholeBodyDynamics]
• Estimated end-effector wrenches at the hands and feet

Output ports of interest

For joint state information

• /icub/all_joints/stateExt:o head, torso, right arm without hands, left arm without hands, right leg, left leg

For visual-inertial odometry

• /icub/inertial
• /icub/head/state:o
• /icub/camCalib/left/out
• /icub/camCalib/right/out

Make sure ENABLE_yarpcar_mjpeg option is set to ON while compiling YARP.

Waist IMU

• /icub/xsens_inertial

Six Axis FT sensors

Measured

• /icub/left_arm/analog:o
• /icub/right_arm/analog:o
• /icub/left_leg/analog:o
• /icub/right_leg/analog:o
• /icub/left_foot/analog:o
• /icub/right_foot/analog:o

Post WholeBodyDynamics

Try to publish processed FT sensor measurements out of wholeBodyDynamics device.

End Effector Wrenches

• /wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o
• /wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o
• /wholeBodyDynamics/left_foot/cartesianEndEffectorWrench:o
• /wholeBodyDynamics/right_foot/cartesianEndEffectorWrench:o