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<?xml version='1.0' encoding='UTF-8'?>
<root>
<tabbed_widget name="Main Window" parent="main_window">
<Tab tab_name="Joints positions" containers="1">
<Container>
<DockSplitter orientation="-" count="2" sizes="0.501182;0.498818">
<DockSplitter orientation="|" count="3" sizes="0.333333;0.333333;0.333333">
<DockArea name="...">
<plot flip_y="false" mode="TimeSeries" style="Lines" flip_x="false">
<range top="0.742236" right="348.728572" left="326.943558" bottom="-2.142001"/>
<limitY/>
<curve name="/actuators/position[0]" color="#ff0000"/>
<curve name="/joint_states/position[0]" color="#ba3232"/>
<curve name="/actuators/position[1]" color="#00ff00"/>
<curve name="/joint_states/position[1]" color="#32bf32"/>
<curve name="/actuators/position[2]" color="#00b8ff"/>
<curve name="/joint_states/position[2]" color="#3292b8"/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" mode="TimeSeries" style="Lines" flip_x="false">
<range top="0.432541" right="348.728572" left="326.943558" bottom="-2.091755"/>
<limitY/>
<curve name="/actuators/position[3]" color="#ff0000"/>
<curve name="/joint_states/position[3]" color="#ba3232"/>
<curve name="/actuators/position[4]" color="#00ff00"/>
<curve name="/joint_states/position[4]" color="#32bf32"/>
<curve name="/actuators/position[5]" color="#00b8ff"/>
<curve name="/joint_states/position[5]" color="#3292b8"/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" mode="TimeSeries" style="Lines" flip_x="false">
<range top="0.230264" right="348.728572" left="326.943558" bottom="-2.164701"/>
<limitY/>
<curve name="/actuators/position[6]" color="#ff0000"/>
<curve name="/joint_states/position[6]" color="#ba3232"/>
<curve name="/actuators/position[7]" color="#00ff00"/>
<curve name="/joint_states/position[7]" color="#32bf32"/>
<curve name="/actuators/position[8]" color="#00b8ff"/>
<curve name="/joint_states/position[8]" color="#3292b8"/>
</plot>
</DockArea>
</DockSplitter>
<DockSplitter orientation="|" count="3" sizes="0.333333;0.333333;0.333333">
<DockArea name="...">
<plot flip_y="false" mode="TimeSeries" style="Lines" flip_x="false">
<range top="2.122586" right="348.728572" left="326.943558" bottom="-0.338805"/>
<limitY/>
<curve name="/actuators/position[9]" color="#ff0000"/>
<curve name="/joint_states/position[9]" color="#ba3232"/>
<curve name="/actuators/position[10]" color="#00ff00"/>
<curve name="/joint_states/position[10]" color="#32bf32"/>
<curve name="/actuators/position[11]" color="#00b8ff"/>
<curve name="/joint_states/position[11]" color="#3292b8"/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" mode="TimeSeries" style="Lines" flip_x="false">
<range top="2.088323" right="348.728572" left="326.943558" bottom="-0.469394"/>
<limitY/>
<curve name="/actuators/position[12]" color="#ff0000"/>
<curve name="/joint_states/position[12]" color="#ba3232"/>
<curve name="/actuators/position[13]" color="#00ff00"/>
<curve name="/joint_states/position[13]" color="#32bf32"/>
<curve name="/actuators/position[14]" color="#00b8ff"/>
<curve name="/joint_states/position[14]" color="#3292b8"/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" mode="TimeSeries" style="Lines" flip_x="false">
<range top="2.176824" right="348.728572" left="326.943558" bottom="-0.718908"/>
<limitY/>
<curve name="/actuators/position[15]" color="#ff0000"/>
<curve name="/joint_states/position[15]" color="#ba3232"/>
<curve name="/actuators/position[16]" color="#00ff00"/>
<curve name="/joint_states/position[16]" color="#32bf32"/>
<curve name="/actuators/position[17]" color="#00b8ff"/>
<curve name="/joint_states/position[17]" color="#3292b8"/>
</plot>
</DockArea>
</DockSplitter>
</DockSplitter>
</Container>
</Tab>
<Tab tab_name="Joint velocities" containers="1">
<Container>
<DockSplitter orientation="-" count="2" sizes="0.500394;0.499606">
<DockSplitter orientation="|" count="3" sizes="0.333333;0.333333;0.333333">
<DockArea name="...">
<plot flip_y="false" mode="TimeSeries" style="Lines" flip_x="false">
<range top="5.812410" right="348.728572" left="328.729904" bottom="-3.108806"/>
<limitY/>
<curve name="/joint_states/velocity[0]" color="#ff7f0e"/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" mode="TimeSeries" style="Lines" flip_x="false">
<range top="5.880000" right="348.728572" left="328.729904" bottom="-5.880000"/>
<limitY/>
<curve name="/joint_states/velocity[1]" color="#f14cc1"/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" mode="TimeSeries" style="Lines" flip_x="false">
<range top="5.880000" right="348.728572" left="328.729904" bottom="-5.880000"/>
<limitY/>
<curve name="/joint_states/velocity[2]" color="#9467bd"/>
</plot>
</DockArea>
</DockSplitter>
<DockSplitter orientation="|" count="3" sizes="0.333333;0.333333;0.333333">
<DockArea name="...">
<plot flip_y="false" mode="TimeSeries" style="Lines" flip_x="false">
<range top="5.880000" right="348.728572" left="328.729904" bottom="-5.880000"/>
<limitY/>
<curve name="/joint_states/velocity[15]" color="#17becf"/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" mode="TimeSeries" style="Lines" flip_x="false">
<range top="5.880000" right="348.728572" left="328.729904" bottom="-5.880000"/>
<limitY/>
<curve name="/joint_states/velocity[16]" color="#bcbd22"/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" mode="TimeSeries" style="Lines" flip_x="false">
<range top="5.880000" right="348.728572" left="328.729904" bottom="-5.880000"/>
<limitY/>
<curve name="/joint_states/velocity[17]" color="#1f77b4"/>
</plot>
</DockArea>
</DockSplitter>
</DockSplitter>
</Container>
</Tab>
<Tab tab_name="Twist and IMU" containers="1">
<Container>
<DockSplitter orientation="-" count="1" sizes="1">
<DockSplitter orientation="|" count="2" sizes="0.5;0.5">
<DockSplitter orientation="-" count="3" sizes="0.333596;0.332808;0.333596">
<DockArea name="...">
<plot flip_y="false" mode="TimeSeries" style="Lines" flip_x="false">
<range top="0.161754" right="348.715931" left="326.943655" bottom="-0.159045"/>
<limitY/>
<curve name="/odom/twist/twist/linear/x" color="#1f77b4"/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" mode="TimeSeries" style="Lines" flip_x="false">
<range top="0.170104" right="348.715931" left="326.943655" bottom="-0.180995"/>
<limitY/>
<curve name="/odom/twist/twist/linear/y" color="#d62728"/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" mode="TimeSeries" style="Lines" flip_x="false">
<range top="0.714365" right="348.715931" left="326.943655" bottom="-0.017424"/>
<limitY/>
<curve name="/odom/twist/twist/angular/z" color="#1ac938"/>
<curve name="/cmd_vel/twist/angular/z" color="#1f77b4"/>
<curve name="/cmd_vel_adj/twist/angular/z" color="#d62728"/>
</plot>
</DockArea>
</DockSplitter>
<DockSplitter orientation="-" count="3" sizes="0.333596;0.332808;0.333596">
<DockArea name="...">
<plot flip_y="false" mode="TimeSeries" style="Lines" flip_x="false">
<range top="1.000000" right="1.000000" left="0.000000" bottom="0.000000"/>
<limitY/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" mode="TimeSeries" style="Lines" flip_x="false">
<range top="1.000000" right="1.000000" left="0.000000" bottom="0.000000"/>
<limitY/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" mode="TimeSeries" style="Lines" flip_x="false">
<range top="1.000000" right="1.000000" left="0.000000" bottom="0.000000"/>
<limitY/>
</plot>
</DockArea>
</DockSplitter>
</DockSplitter>
</DockSplitter>
</Container>
</Tab>
<Tab tab_name="Foot positions" containers="1">
<Container>
<DockSplitter orientation="-" count="2" sizes="0.500394;0.499606">
<DockSplitter orientation="|" count="3" sizes="0.333333;0.333333;0.333333">
<DockArea name="...">
<plot flip_y="false" mode="TimeSeries" style="Lines" flip_x="false">
<range top="0.043737" right="346.942404" left="326.943691" bottom="-0.103506"/>
<limitY/>
<curve name="/relative_foot_positions/vectors[0]/x" color="#1ac938"/>
<curve name="/relative_foot_positions/vectors[0]/y" color="#ff7f0e"/>
<curve name="/relative_foot_positions/vectors[0]/z" color="#f14cc1"/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" mode="TimeSeries" style="Lines" flip_x="false">
<range top="0.048498" right="346.942404" left="326.943691" bottom="-0.103622"/>
<limitY/>
<curve name="/relative_foot_positions/vectors[1]/x" color="#9467bd"/>
<curve name="/relative_foot_positions/vectors[1]/y" color="#17becf"/>
<curve name="/relative_foot_positions/vectors[1]/z" color="#bcbd22"/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" mode="TimeSeries" style="Lines" flip_x="false">
<range top="0.048207" right="346.942404" left="326.943691" bottom="-0.103615"/>
<limitY/>
<curve name="/relative_foot_positions/vectors[2]/x" color="#1f77b4"/>
<curve name="/relative_foot_positions/vectors[2]/y" color="#d62728"/>
<curve name="/relative_foot_positions/vectors[2]/z" color="#1ac938"/>
</plot>
</DockArea>
</DockSplitter>
<DockSplitter orientation="|" count="3" sizes="0.333333;0.333333;0.333333">
<DockArea name="...">
<plot flip_y="false" mode="TimeSeries" style="Lines" flip_x="false">
<range top="0.049013" right="346.942404" left="326.943691" bottom="-0.103634"/>
<limitY/>
<curve name="/relative_foot_positions/vectors[3]/x" color="#ff7f0e"/>
<curve name="/relative_foot_positions/vectors[3]/y" color="#f14cc1"/>
<curve name="/relative_foot_positions/vectors[3]/z" color="#9467bd"/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" mode="TimeSeries" style="Lines" flip_x="false">
<range top="0.047771" right="346.942404" left="326.943691" bottom="-0.103604"/>
<limitY/>
<curve name="/relative_foot_positions/vectors[4]/x" color="#17becf"/>
<curve name="/relative_foot_positions/vectors[4]/y" color="#bcbd22"/>
<curve name="/relative_foot_positions/vectors[4]/z" color="#1f77b4"/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" mode="TimeSeries" style="Lines" flip_x="false">
<range top="0.048784" right="346.942404" left="326.943691" bottom="-0.103629"/>
<limitY/>
<curve name="/relative_foot_positions/vectors[5]/x" color="#d62728"/>
<curve name="/relative_foot_positions/vectors[5]/y" color="#1ac938"/>
<curve name="/relative_foot_positions/vectors[5]/z" color="#ff7f0e"/>
</plot>
</DockArea>
</DockSplitter>
</DockSplitter>
</Container>
</Tab>
<Tab tab_name="Foot positions parametric" containers="1">
<Container>
<DockSplitter orientation="-" count="2" sizes="0.500394;0.499606">
<DockSplitter orientation="|" count="3" sizes="0.333333;0.333333;0.333333">
<DockArea name="...">
<plot flip_y="false" mode="XYPlot" style="Lines" flip_x="false">
<range top="-0.049610" right="0.042351" left="-0.046687" bottom="-0.120390"/>
<limitY/>
<curve name="/relative_foot_positions/vectors[0]/[x;z]" curve_x="/relative_foot_positions/vectors[0]/x" curve_y="/relative_foot_positions/vectors[0]/z" color="#f14cc1"/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" mode="XYPlot" style="Lines" flip_x="false">
<range top="-0.055898" right="0.036386" left="-0.036559" bottom="-0.114102"/>
<limitY/>
<curve name="/relative_foot_positions/vectors[0]/[y;z]" curve_x="/relative_foot_positions/vectors[0]/y" curve_y="/relative_foot_positions/vectors[0]/z" color="#9467bd"/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" mode="XYPlot" style="Lines" flip_x="false">
<range top="0.036386" right="0.043541" left="-0.047877" bottom="-0.036559"/>
<limitY/>
<curve name="/relative_foot_positions/vectors[0]/[x;y]" curve_x="/relative_foot_positions/vectors[0]/x" curve_y="/relative_foot_positions/vectors[0]/y" color="#ff7f0e"/>
</plot>
</DockArea>
</DockSplitter>
<DockSplitter orientation="|" count="3" sizes="0.333333;0.333333;0.333333">
<DockArea name="...">
<plot flip_y="false" mode="XYPlot" style="Lines" flip_x="false">
<range top="-0.047352" right="0.047127" left="-0.047415" bottom="-0.122648"/>
<limitY/>
<curve name="/relative_foot_positions/vectors[1]/[x;z]" curve_x="/relative_foot_positions/vectors[1]/x" curve_y="/relative_foot_positions/vectors[1]/z" color="#bcbd22"/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" mode="XYPlot" style="Lines" flip_x="false">
<range top="-0.060357" right="0.026340" left="-0.035543" bottom="-0.109643"/>
<limitY/>
<curve name="/relative_foot_positions/vectors[1]/[y;z]" curve_x="/relative_foot_positions/vectors[1]/y" curve_y="/relative_foot_positions/vectors[1]/z" color="#1f77b4"/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" mode="XYPlot" style="Lines" flip_x="false">
<range top="0.033047" right="0.047127" left="-0.047415" bottom="-0.042250"/>
<limitY/>
<curve name="/relative_foot_positions/vectors[1]/[x;y]" curve_x="/relative_foot_positions/vectors[1]/x" curve_y="/relative_foot_positions/vectors[1]/y" color="#17becf"/>
</plot>
</DockArea>
</DockSplitter>
</DockSplitter>
</Container>
</Tab>
<Tab tab_name="Phases" containers="1">
<Container>
<DockSplitter orientation="-" count="2" sizes="0.500394;0.499606">
<DockArea name="...">
<plot flip_y="false" mode="TimeSeries" style="StepsInv" flip_x="false">
<range top="3.075000" right="346.942374" left="326.943762" bottom="-0.075000"/>
<limitY/>
<curve name="/gait_phase_left/phase" color="#1f77b4"/>
<curve name="/gait_phase_right/phase" color="#d62728"/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" mode="TimeSeries" style="Lines" flip_x="false">
<range top="1.000000" right="1.000000" left="0.000000" bottom="0.000000"/>
<limitY/>
</plot>
</DockArea>
</DockSplitter>
</Container>
</Tab>
<Tab tab_name="cmd_vel" containers="1">
<Container>
<DockSplitter orientation="-" count="2" sizes="0.500394;0.499606">
<DockSplitter orientation="|" count="2" sizes="0.5;0.5">
<DockArea name="...">
<plot flip_y="false" mode="TimeSeries" style="Lines" flip_x="false">
<range top="0.084000" right="348.687758" left="326.943655" bottom="-0.084000"/>
<limitY/>
<curve name="/cmd_vel/twist/linear/x" color="#f14cc1"/>
<curve name="/cmd_vel/twist/linear/y" color="#9467bd"/>
<curve name="/cmd_vel_adj/twist/linear/x" color="#17becf"/>
<curve name="/cmd_vel_adj/twist/linear/y" color="#bcbd22"/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" mode="TimeSeries" style="Lines" flip_x="false">
<range top="0.449066" right="348.687758" left="326.943655" bottom="0.249066"/>
<limitY/>
<curve name="/cmd_vel/twist/angular/z" color="#1f77b4"/>
<curve name="/cmd_vel_adj/twist/angular/z" color="#d62728"/>
</plot>
</DockArea>
</DockSplitter>
<DockArea name="...">
<plot flip_y="false" mode="TimeSeries" style="Lines" flip_x="false">
<range top="1.000000" right="1.000000" left="0.000000" bottom="0.000000"/>
<limitY/>
</plot>
</DockArea>
</DockSplitter>
</Container>
</Tab>
<currentTabIndex index="0"/>
</tabbed_widget>
<use_relative_time_offset enabled="1"/>
<!-- - - - - - - - - - - - - - - -->
<!-- - - - - - - - - - - - - - - -->
<Plugins>
<plugin ID="DataLoad CSV">
<parameters time_axis="" delimiter="0"/>
</plugin>
<plugin ID="DataLoad MCAP"/>
<plugin ID="DataLoad ROS2 bags">
<use_header_stamp value="false"/>
<discard_large_arrays value="true"/>
<max_array_size value="100"/>
<boolean_strings_to_number value="true"/>
<remove_suffix_from_strings value="true"/>
<selected_topics value=""/>
</plugin>
<plugin ID="DataLoad ULog"/>
<plugin ID="ROS2 Topic Subscriber">
<use_header_stamp value="false"/>
<discard_large_arrays value="true"/>
<max_array_size value="100"/>
<boolean_strings_to_number value="true"/>
<remove_suffix_from_strings value="true"/>
<selected_topics value="/actuators;/cmd_vel;/gait_phase_left;/gait_phase_right;/imu;/joint_states;/odom;/relative_foot_positions;/cmd_vel_adj"/>
</plugin>
<plugin ID="UDP Server"/>
<plugin ID="WebSocket Server"/>
<plugin ID="ZMQ Subscriber"/>
<plugin ID="Fast Fourier Transform"/>
<plugin ID="Quaternion to RPY"/>
<plugin ID="Reactive Script Editor">
<library code="--[[ Helper function to create a series from arrays

 new_series: a series previously created with ScatterXY.new(name)
 prefix: prefix of the timeseries, before the index of the array
 suffix_X: suffix to complete the name of the series containing the X value. If [nil], use the index of the array.
 suffix_Y: suffix to complete the name of the series containing the Y value
 timestamp: usually the tracker_time variable
 
 Example:
 
 Assuming we have multiple series in the form:
 
 /trajectory/node.{X}/position/x
 /trajectory/node.{X}/position/y
 
 where {N} is the index of the array (integer). We can create a reactive series from the array with:
 
 new_series = ScatterXY.new("my_trajectory") 
 CreateSeriesFromArray( new_series, "/trajectory/node", "position/x", "position/y", tracker_time );
--]]

function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )
 
 --- clear previous values
 new_series:clear()
 
 --- Append points to new_series
 index = 0
 while(true) do

 x = index;
 -- if not nil, get the X coordinate from a series
 if suffix_X ~= nil then 
 series_x = TimeseriesView.find( string.format( "%s.%d/%s", prefix, index, suffix_X) )
 if series_x == nil then break end
 x = series_x:atTime(timestamp)	 
 end
 
 series_y = TimeseriesView.find( string.format( "%s.%d/%s", prefix, index, suffix_Y) )
 if series_y == nil then break end 
 y = series_y:atTime(timestamp)
 
 new_series:push_back(x,y)
 index = index+1
 end
end

--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]

function GetSeriesNamesByPrefix(prefix)
 -- GetSeriesNames(9 is a built-in function
 all_names = GetSeriesNames()
 filtered_names = {}
 for i, name in ipairs(all_names) do
 -- check the prefix
 if name:find(prefix, 1, #prefix) then
 table.insert(filtered_names, name);
 end
 end
 return filtered_names
end

--[[ Modify an existing series, applying offsets to all their X and Y values

 series: an existing timeseries, obtained with TimeseriesView.find(name)
 delta_x: offset to apply to each x value
 delta_y: offset to apply to each y value 
 
--]]

function ApplyOffsetInPlace(series, delta_x, delta_y)
 -- use C++ indeces, not Lua indeces
 for index=0, series:size()-1 do
 x,y = series:at(index)
 series:set(index, x + delta_x, y + delta_y)
 end
end
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