Machine Learning for System Identification

Data recording for roboy arm

Recording Paradigm

We recorded three different poses, depicted below.

"UP"	"SIDE"	"ROUND"

Recording Setup

Settings

Software tools

For recording data, first use rosbag to record the data from a collection of topics:

rosbag record -O recording_file /roboy/middleware/MotorStatus

This creates a file recording_file.bag which can then be converted into json by calling

python convert_bag.py recording_file.bag output_file.json /roboy/middleware/MotorStatus /another/topic

To loop over all .bag files in a directory, use something like

for fp in $(ls *.bag); do python convert_bag.py $fp $fp.json /roboy/middleware/MotorStatus; done

Data loading into numpy

To load the generated files into a numpy array, follow the steps in the notebook Roboy Data Loading.

Additional Images

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