[core] Replace controller telemetry prefix by 'controller'.

core/include/jiminy/core/control/abstract_controller.h

@@ -11,7 +11,7 @@
 namespace jiminy
 {
     /// \brief Namespace of the telemetry object.
-    inline constexpr std::string_view CONTROLLER_TELEMETRY_NAMESPACE{"HighLevelController"};
+    inline constexpr std::string_view CONTROLLER_TELEMETRY_NAMESPACE{"controller"};
 
     class TelemetrySender;
     class TelemetryData;

core/unit/engine_sanity_check.cc

@@ -112,7 +112,7 @@ TEST(EngineSanity, EnergyConservation)
     std::shared_ptr<const LogData> logDataPtr = engine.getLog();
     const Eigen::VectorXd timesCont = getLogVariable(*logDataPtr, "Global.Time");
     ASSERT_DOUBLE_EQ(timesCont[timesCont.size() - 1], tf);
-    const Eigen::VectorXd energyCont = getLogVariable(*logDataPtr, "HighLevelController.energy");
+    const Eigen::VectorXd energyCont = getLogVariable(*logDataPtr, "controller.energy");
     ASSERT_GT(energyCont.size(), 0);
 
     // Check that energy is constant
@@ -140,7 +140,7 @@ TEST(EngineSanity, EnergyConservation)
     logDataPtr = engine.getLog();
     const Eigen::VectorXd timesDisc = getLogVariable(*logDataPtr, "Global.Time");
     ASSERT_DOUBLE_EQ(timesDisc[timesDisc.size() - 1], tf);
-    const Eigen::VectorXd energyDisc = getLogVariable(*logDataPtr, "HighLevelController.energy");
+    const Eigen::VectorXd energyDisc = getLogVariable(*logDataPtr, "controller.energy");
     ASSERT_GT(energyDisc.size(), 0);
 
     // Check that energy is constant

docs/spec/src/tlmc_format_specification.md

@@ -58,7 +58,7 @@ GROUP "/" {
          (0): 1
          }
       }
-      DATASET "HighLevelController.controlOffsetTimestamp" {
+      DATASET "controller.controlOffsetTimestamp" {
          DATATYPE  H5T_STRING {
             STRSIZE 8;
             STRPAD H5T_STR_NULLPAD;
@@ -73,7 +73,7 @@ GROUP "/" {
       ...
    }
    GROUP "variables" {
-      GROUP "HighLevelController.currentPositionLeftSagittalHip" {
+      GROUP "controller.currentPositionLeftSagittalHip" {
          DATASET "time" {
             DATATYPE  H5T_STD_I64LE
             DATASPACE  SIMPLE { ( 338623 ) / ( 338623 ) }

python/gym_jiminy/common/gym_jiminy/common/envs/locomotion.py

@@ -425,7 +425,7 @@ def compute_reward(self,
             # perfectly symmetric wrt Y-axis over the whole trajectory.
             if 'direction' in reward_mixture_keys:
                 frontal_displacement = abs(np.mean(self.log_data[
-                    'HighLevelController.currentFreeflyerPositionTransY']))
+                    'controller.currentFreeflyerPositionTransY']))
                 reward_dict['direction'] = - frontal_displacement
 
         # Compute the total reward

python/gym_jiminy/unit_py/test_pipeline_control.py

@@ -93,14 +93,14 @@ def _test_pid_standing(self):
         time = log_vars["Global.Time"]
         velocity_target = np.stack([
             log_vars['.'.join((
-                'HighLevelController', self.env.controller.name, name))]
+                'controller', self.env.controller.name, name))]
             for name in self.env.controller.fieldnames], axis=-1)
         self.assertTrue(np.all(
             np.abs(velocity_target[time > time[-1] - 1.0]) < 1.0e-9))
 
         # Check that the whole-body robot velocity is close to zero at the end
         velocity_mes = np.stack([
-            log_vars['.'.join(('HighLevelController', name))]
+            log_vars['.'.join(('controller', name))]
             for name in self.env.robot.log_velocity_fieldnames], axis=-1)
         self.assertTrue(np.all(
             np.abs(velocity_mes[time > time[-1] - 1.0]) < 1.0e-3))
@@ -202,9 +202,9 @@ def test_pid_controller(self):
         ctrl_name = controller.name
         n_motors = len(controller.fieldnames)
         pos = env.log_data["variables"][".".join((
-            "HighLevelController", ctrl_name, "state", str(n_motors - 1)))]
+            "controller", ctrl_name, "state", str(n_motors - 1)))]
         vel = env.log_data["variables"][".".join((
-            "HighLevelController", ctrl_name, controller.fieldnames[-1]))]
+            "controller", ctrl_name, controller.fieldnames[-1]))]
 
         # Make sure that the position and velocity targets are consistent
         np.testing.assert_allclose(

python/gym_jiminy/unit_py/test_pipeline_design.py

@@ -217,7 +217,7 @@ def configure_telemetry() -> InterfaceJiminyEnv:
 
         # Check that the command is updated 1/2 low-level controller update
         log_vars = env.log_data['variables']
-        u_log = log_vars['HighLevelController.currentCommandLF_HAA']
+        u_log = log_vars['controller.currentCommandLF_HAA']
         self.assertEqual(env.control_dt, 2 * env.unwrapped.control_dt)
         self.assertTrue(np.all(u_log[:2] == 0.0))
         self.assertNotEqual(u_log[1], u_log[2])

python/jiminy_py/examples/double_pendulum.py

@@ -102,7 +102,7 @@ def internal_dynamics(self, t, q, v, u_custom):
 
     # Plot some data using standard tools only
     plt.figure()
-    plt.plot(log_vars['Global.Time'], log_vars['HighLevelController.energy'])
+    plt.plot(log_vars['Global.Time'], log_vars['controller.energy'])
     plt.title('Double pendulum energy')
     plt.grid()
     plt.show()

python/jiminy_py/examples/tutorial.ipynb

@@ -154,7 +154,7 @@
     "# Let's plot the joint position to see the pendulum fall.\n",
     "import matplotlib.pyplot as plt\n",
     "\n",
-    "plt.plot(log_vars['Global.Time'], log_vars['HighLevelController.currentPositionPendulum'])\n",
+    "plt.plot(log_vars['Global.Time'], log_vars['controller.currentPositionPendulum'])\n",
     "plt.title('Pendulum angle (rad)')\n",
     "plt.grid()\n",
     "plt.show()"

python/jiminy_py/src/jiminy_py/log.py

@@ -51,7 +51,7 @@
 @overload
 def extract_variables_from_log(log_vars: Dict[str, np.ndarray],
                                fieldnames: FieldNested,
-                               namespace: str = "HighLevelController",
+                               namespace: str = "controller",
                                *, as_dict: Literal[False] = False
                                ) -> List[np.ndarray]:
     ...
@@ -60,15 +60,15 @@ def extract_variables_from_log(log_vars: Dict[str, np.ndarray],
 @overload
 def extract_variables_from_log(log_vars: Dict[str, np.ndarray],
                                fieldnames: FieldNested,
-                               namespace: str = "HighLevelController",
+                               namespace: str = "controller",
                                *, as_dict: Literal[True]
                                ) -> Dict[str, np.ndarray]:
     ...
 
 
 def extract_variables_from_log(log_vars: Dict[str, np.ndarray],
                                fieldnames: FieldNested,
-                               namespace: str = "HighLevelController",
+                               namespace: str = "controller",
                                *, as_dict: bool = False
                                ) -> Union[
                                    List[np.ndarray], Dict[str, np.ndarray]]:
@@ -78,7 +78,7 @@ def extract_variables_from_log(log_vars: Dict[str, np.ndarray],
     :param log_vars: Logged variables as a dictionary.
     :param fieldnames: Structured fieldnames.
     :param namespace: Namespace of the fieldnames. Empty string to disable.
-                      Optional: "HighLevelController" by default.
+                      Optional: "controller" by default.
     :param keep_structure: Whether to return a dictionary mapping flattened
                            fieldnames to values.
                            Optional: True by default.
@@ -253,10 +253,10 @@ def build_robots_from_log(
 
     robots_names = []
     for key in log_constants.keys():
-        if key == "HighLevelController.has_freeflyer":
+        if key == "controller.has_freeflyer":
             robots_names.append("")
         else:
-            m = re.findall(r"HighLevelController.(\w+).has_freeflyer", key)
+            m = re.findall(r"controller.(\w+).has_freeflyer", key)
             if len(m) == 1:
                 robots_names.append(m[0])
 

python/jiminy_py/unit_py/test_dense_pole.py

@@ -123,7 +123,7 @@ def test_flex_model(self):
             q_flex = np.stack(extract_variables_from_log(log_vars, [
                 f"currentPosition{self.flex_joint_name}Quat{e}"
                 for e in ('X', 'Y', 'Z', 'W')
-                ], 'HighLevelController'), axis=0)
+                ], 'controller'), axis=0)
             twist_flex = 2 * np.arctan2(q_flex[2], q_flex[3])
             twist_flex_all.append(twist_flex)
 
@@ -210,7 +210,7 @@ def test_joint_position_limits(self):
             (theta,) = extract_variables_from_log(
                 log_vars,
                 (f"currentPosition{self.robot.pinocchio_model.names[-1]}",),
-                'HighLevelController')
+                'controller')
             theta_all.append(theta)
 
         assert np.allclose(*theta_all, atol=1e-4)

python/jiminy_py/unit_py/test_simple_mass.py

@@ -144,7 +144,7 @@ def _test_collision_and_contact_dynamics(self, shape):
 
         # Total energy and derivative
         log_vars = engine.log_data["variables"]
-        E_robot = log_vars['HighLevelController.energy']
+        E_robot = log_vars['controller.energy']
         E_contact = 1 / 2 * self.k_contact * penetration_depth ** 2
         E_tot = E_robot + E_contact
         E_diff_robot = np.concatenate((
@@ -279,7 +279,7 @@ def _test_friction_model(self, shape):
         # viscous friction because of stiction phenomena.
         log_vars = engine.log_data["variables"]
         acceleration = log_vars[
-            'HighLevelController.currentFreeflyerAccelerationLinX']
+            'controller.currentFreeflyerAccelerationLinX']
         jerk = np.diff(acceleration) / np.diff(time)
         snap = np.diff(jerk) / np.diff(time[1:])
         snap_rel = np.abs(snap / np.max(snap))
@@ -303,7 +303,7 @@ def _test_friction_model(self, shape):
         # Check that the energy increases only when the force is applied
         tolerance_E = 1e-9
 
-        E_robot = log_vars['HighLevelController.energy']
+        E_robot = log_vars['controller.energy']
         E_diff_robot = np.concatenate((
             np.diff(E_robot) / np.diff(time),
             np.zeros((1,), dtype=E_robot.dtype)))

python/jiminy_py/unit_py/utilities.py

@@ -209,10 +209,10 @@ def simulate_and_get_state_evolution(
     time = log_vars['Global.Time']
     if isinstance(x0, np.ndarray):
         q_jiminy = np.stack([
-            log_vars['.'.join(['HighLevelController', s])]
+            log_vars['.'.join(['controller', s])]
             for s in engine.robots[0].log_position_fieldnames], axis=-1)
         v_jiminy = np.stack([
-            log_vars['.'.join(['HighLevelController', s])]
+            log_vars['.'.join(['controller', s])]
             for s in engine.robots[0].log_velocity_fieldnames], axis=-1)
         if split:
             return time, q_jiminy, v_jiminy
@@ -221,11 +221,11 @@ def simulate_and_get_state_evolution(
             return time, x_jiminy
     else:
         q_jiminy = [np.stack([
-            log_vars['.'.join(['HighLevelController', robot.name, s])]
+            log_vars['.'.join(['controller', robot.name, s])]
             for s in robot.log_position_fieldnames
         ], axis=-1) for robot in engine.robots]
         v_jiminy = [np.stack([
-            log_vars['.'.join(['HighLevelController', robot.name, s])]
+            log_vars['.'.join(['controller', robot.name, s])]
             for s in robot.log_velocity_fieldnames
         ], axis=-1) for robot in engine.robots]
         if split: