[core] Remove irrelevant telemetry prefix. Replace controller telemet…

…ry prefix by 'controller'.

core/examples/double_pendulum/double_pendulum.cc

@@ -55,6 +55,7 @@ int main(int /* argc */, char * /* argv */[])
     const auto dataPath = jiminySrcPath / "data/toys_models";
     const auto urdfPath = dataPath / "double_pendulum/double_pendulum.urdf";
     const auto outputDirPath = std::filesystem::temp_directory_path();
+    std::cout << "Output directory: " << outputDirPath << std::endl;
 
     // =====================================================================
     // ============ Instantiate and configure the simulation ===============

core/examples/external_project/double_pendulum.cc

@@ -53,6 +53,7 @@ int main(int argc, char * argv[])
     const std::filesystem::path filePath(__FILE__);
     const auto urdfPath = filePath.parent_path() / "double_pendulum.urdf";
     const auto outputDirPath = std::filesystem::temp_directory_path();
+    std::cout << "Output directory: " << outputDirPath << std::endl;
 
     // =====================================================================
     // ============ Instantiate and configure the simulation ===============

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/include/jiminy/core/engine/engine.h

@@ -12,7 +12,7 @@
 
 namespace jiminy
 {
-    inline constexpr std::string_view ENGINE_TELEMETRY_NAMESPACE{"HighLevelController"};
+    inline constexpr std::string_view ENGINE_TELEMETRY_NAMESPACE{""};
 
     enum class ContactModelType : uint8_t
     {

core/include/jiminy/core/utilities/helpers.h

@@ -100,14 +100,14 @@ namespace jiminy
     bool JIMINY_DLLAPI endsWith(const std::string & str, const std::string & substr);
 
     std::string JIMINY_DLLAPI addCircumfix(std::string fieldname,  // Make a copy
-                                           const std::string_view & prefix = {},
-                                           const std::string_view & suffix = {},
-                                           const std::string_view & delimiter = {});
+                                           const std::string_view & prefix,
+                                           const std::string_view & suffix,
+                                           const std::string_view & delimiter);
     std::vector<std::string> JIMINY_DLLAPI addCircumfix(
         const std::vector<std::string> & fieldnames,
-        const std::string_view & prefix = {},
-        const std::string_view & suffix = {},
-        const std::string_view & delimiter = {});
+        const std::string_view & prefix,
+        const std::string_view & suffix,
+        const std::string_view & delimiter);
 
     std::string JIMINY_DLLAPI removeSuffix(std::string fieldname,  // Make a copy
                                            const std::string & suffix);

core/src/engine/engine.cc

@@ -571,39 +571,42 @@ namespace jiminy
             auto energyIt = energy_.begin();
             for (; robotIt != robots_.end(); ++robotIt, ++robotDataIt, ++energyIt)
             {
+                // Define proxy for convenience
+                const std::string & robotName = (*robotIt)->getName();
+
                 // Generate the log fieldnames
                 robotDataIt->logPositionFieldnames =
                     addCircumfix((*robotIt)->getLogPositionFieldnames(),
-                                 (*robotIt)->getName(),
+                                 robotName,
                                  {},
                                  TELEMETRY_FIELDNAME_DELIMITER);
                 robotDataIt->logVelocityFieldnames =
                     addCircumfix((*robotIt)->getLogVelocityFieldnames(),
-                                 (*robotIt)->getName(),
+                                 robotName,
                                  {},
                                  TELEMETRY_FIELDNAME_DELIMITER);
                 robotDataIt->logAccelerationFieldnames =
                     addCircumfix((*robotIt)->getLogAccelerationFieldnames(),
-                                 (*robotIt)->getName(),
+                                 robotName,
                                  {},
                                  TELEMETRY_FIELDNAME_DELIMITER);
                 robotDataIt->logForceExternalFieldnames =
                     addCircumfix((*robotIt)->getLogForceExternalFieldnames(),
-                                 (*robotIt)->getName(),
+                                 robotName,
                                  {},
                                  TELEMETRY_FIELDNAME_DELIMITER);
                 robotDataIt->logCommandFieldnames =
                     addCircumfix((*robotIt)->getLogCommandFieldnames(),
-                                 (*robotIt)->getName(),
+                                 robotName,
                                  {},
                                  TELEMETRY_FIELDNAME_DELIMITER);
                 robotDataIt->logMotorEffortFieldnames =
                     addCircumfix((*robotIt)->getLogMotorEffortFieldnames(),
-                                 (*robotIt)->getName(),
+                                 robotName,
                                  {},
                                  TELEMETRY_FIELDNAME_DELIMITER);
-                robotDataIt->logEnergyFieldname = addCircumfix(
-                    "energy", (*robotIt)->getName(), {}, TELEMETRY_FIELDNAME_DELIMITER);
+                robotDataIt->logEnergyFieldname =
+                    addCircumfix("energy", robotName, {}, TELEMETRY_FIELDNAME_DELIMITER);
 
                 // Register variables to the telemetry senders
                 if (engineOptions_->telemetry.enableConfiguration)

core/src/robot/robot.cc

@@ -525,22 +525,20 @@ namespace jiminy
         // Generate the fieldnames associated with command
         logCommandFieldnames_.clear();
         logCommandFieldnames_.reserve(nmotors_);
-        std::transform(
-            motors_.begin(),
-            motors_.end(),
-            std::back_inserter(logCommandFieldnames_),
-            [](const auto & elem) -> std::string
-            { return addCircumfix(elem->getName(), toString(JOINT_PREFIX_BASE, "Command")); });
+        std::transform(motors_.begin(),
+                       motors_.end(),
+                       std::back_inserter(logCommandFieldnames_),
+                       [](const auto & elem) -> std::string
+                       { return toString(JOINT_PREFIX_BASE, "Command", elem->getName()); });
 
         // Generate the fieldnames associated with motor efforts
         logMotorEffortFieldnames_.clear();
         logMotorEffortFieldnames_.reserve(nmotors_);
-        std::transform(
-            motors_.begin(),
-            motors_.end(),
-            std::back_inserter(logMotorEffortFieldnames_),
-            [](const auto & elem) -> std::string
-            { return addCircumfix(elem->getName(), toString(JOINT_PREFIX_BASE, "Effort")); });
+        std::transform(motors_.begin(),
+                       motors_.end(),
+                       std::back_inserter(logMotorEffortFieldnames_),
+                       [](const auto & elem) -> std::string
+                       { return toString(JOINT_PREFIX_BASE, "Effort", elem->getName()); });
     }
 
     void Robot::refreshSensorProxies()

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

python/gym_jiminy/common/gym_jiminy/common/envs/generic.py

@@ -1031,7 +1031,7 @@ def plot(self,
                 "`plot` method.")
 
         # Plot all registered variables
-        for key, fielnames in self.log_fieldnames.items():
+        for key, fieldnames in self.log_fieldnames.items():
             # Filter state if requested
             if not enable_block_states and key.endswith(".state"):
                 continue
@@ -1042,21 +1042,23 @@ def plot(self,
             # scalar data over time to be displayed to the same subplot.
             t = log_vars["Global.Time"]
             tab_data: Dict[str, Union[np.ndarray, Dict[str, np.ndarray]]] = {}
-            if isinstance(fielnames, dict):
-                for group, fieldnames in fielnames.items():
-                    if not isinstance(fieldnames, list):
+            if isinstance(fieldnames, dict):
+                for group, subfieldnames in fieldnames.items():
+                    if not isinstance(subfieldnames, list):
                         LOGGER.error(
                             "Action space not supported by this method.")
                         return figure
+                    value_map = extract_variables_from_log(
+                        log_vars, subfieldnames, "controller", as_dict=True)
                     tab_data[group] = {
                         key.split(".", 2)[2]: value
-                        for key, value in extract_variables_from_log(
-                            log_vars, fieldnames, as_dict=True).items()}
-            elif isinstance(fielnames, list):
+                        for key, value in value_map.items()}
+            elif isinstance(fieldnames, list):
+                value_map = extract_variables_from_log(
+                    log_vars, fieldnames, "controller", as_dict=True)
                 tab_data.update({
                     key.split(".", 2)[2]: value
-                    for key, value in extract_variables_from_log(
-                        log_vars, fielnames, as_dict=True).items()})
+                    for key, value in value_map.items()})
 
             # Add action tab
             figure.add_tab(key.replace(".", " "), t, tab_data)

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

@@ -424,8 +424,8 @@ def compute_reward(self,
             # Y-axis. It is equal to 0.0 if the frontal displacement is
             # 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']))
+                frontal_displacement = abs(np.mean(
+                    self.log_data['currentFreeflyerPositionTransY']))
                 reward_dict['direction'] = - frontal_displacement
 
         # Compute the total reward

python/gym_jiminy/unit_py/test_pipeline_control.py

@@ -92,16 +92,15 @@ def _test_pid_standing(self):
         # Check that the joint velocity target is zero
         time = log_vars["Global.Time"]
         velocity_target = np.stack([
-            log_vars['.'.join((
-                'HighLevelController', self.env.controller.name, name))]
+            log_vars['.'.join(("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))]
-            for name in self.env.robot.log_velocity_fieldnames], axis=-1)
+            log_vars[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 +201,9 @@ 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['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['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['currentPositionPendulum'])\n",
     "plt.title('Pendulum angle (rad)')\n",
     "plt.grid()\n",
     "plt.show()"