Add the correct sense to all lateral axis definitions

[moorepants]

In https://github.com/mechmotum/baby-vibration/blob/master/data/vehicles.yml each vehicle has the lateral axis of each IMU defined:

  imu_lateral_axis:
    BotTrike: x
    FrontWheel: z
    RearWheel: -z
    SeatBot: x
    SeatHead: x

The IMUs are oriented on the vehicle such that one of the three body fixed sensor axes are approximately lined up with the horizontal lateral axis of the vehicle. These have to be added for each vehicle. The correct sense of each axis needs to be recorded for the rotation and gravity subtraction to work correctly. If the positive sensor axis is pointing to the right of the vehicle (when facing forward) it should indicated as x, y, or z. If the positive sense of the sensor axis is pointing to the left of the vehicle, it should be -x, -y, or -z.

[GabrieleDello]

Travelling direction (Longitudinal direction)

Maxicosi_3_0months
BotTrike: +y
FrontWheel: -x
RearWheel: /
SeatBot: -y
SeatHead: +y

Maxicosi_5_9months
BotTrike: +y
FrontWheel: -x
RearWheel: /
SeatBot: -y
SeatHead: +y

Bugaboo_5_9months
BotTrike: +y
FrontWheel: -x
RearWheel: /
SeatBot: -x
SeatHead: +y

Bugaboo_3_0months
BotTrike: -y
FrontWheel: +x
RearWheel: /
SeatBot: +y
SeatHead: +y

Maxicosi_4_0months
BotTrike: -y
FrontWheel: +x
RearWheel: /
SeatBot: +y
SeatHead: +y

[moorepants]

I don't want the "longitudinal" direction. This is for the lateral direction (pitch axis). I need to know what axis on the sensor aligns with the vehicle's pitch axis and which direction is positive (sensor axis points to the right) or negative (sensor axis points to the left).

[GabrieleDello]

--- Lateral direction ---
*** Positive pointing to the right (wrt direction of travelling); Negative pointing to the left ***
PS For some tests, we don't take all the pictures for sensor orientation. Unfortunately. They are labelled with (?)

Maxicosi_3_0months
front_wheel: -Z
Rear_wheel: -Z
SeatHead: +X
SeatBot: -X
BotTrike: +X

Maxicosi_4_0months
front_wheel: -Z
Rear_wheel: -Z
SeatHead: +X
SeatBot: +X
BotTrike: -X

Maxicosi_5_9months
front_wheel: -Z
Rear_wheel: -Z
SeatHead: X (?)
SeatBot: X (?)
BotTrike: +X

YOYO_0months:
front_wheel: -Z
Rear_wheel: -Z
SeatHead: -X
SeatBot: -X
BotTrike: -X

Bugaboo_3_0months:
front_wheel: -Z
Rear_wheel: -Z
SeatHead: +X
SeatBot: -X
BotTrike: +X

Bugaboo_4_0months:
front_wheel: -Z
Rear_wheel: -Z
SeatHead: +X (?)
SeatBot: +X (?)
BotTrike: +X

Bugaboo_7_9months:
front_wheel: -Z
Rear_wheel: -Z
SeatHead: +X
SeatBot: +X
BotTrike: -Y (?)

Trike_0months (Maxicosi cot)Trike_3months (Melia baby shell)
front_wheel: -X
Rear_wheel: -X
SeatHead: -X
SeatBot: -X
BotTrike: -Y

Trike_3months (Melia baby shell)
front_wheel: -X
Rear_wheel: -X
SeatHead: +X
SeatBot: +X
BotTrike: -Y

[moorepants]

You have Trike_3months twice in:

Trike_0months (Maxicosi cot)Trike_3months (Melia baby shell)
front_wheel: -X
Rear_wheel: -X
SeatHead: -X
SeatBot: -X
BotTrike: -Y

Trike_3months (Melia baby shell)
front_wheel: -X
Rear_wheel: -X
SeatHead: +X
SeatBot: +X
BotTrike: -Y

Typo?

[moorepants]

Also Maxicos_1_0months is missing.

[moorepants]

Also Maxicos_6_9months missing.

[moorepants]

Also Bugaboo_5_9months missing.

[GabrieleDello]

You have Trike_3months twice in:

Trike_0months (Maxicosi cot)Trike_3months (Melia baby shell) Here is Trike_1 and Trike_2 (0months)
front_wheel: -X
Rear_wheel: -X
SeatHead: -X
SeatBot: -X
BotTrike: -Y
Trike_3months (Melia baby shell) Here is Trike_5 (3months)
front_wheel: -X
Rear_wheel: -X
SeatHead: +X
SeatBot: +X
BotTrike: -Y

Typo?

No, it is correct. NOTE: Trike_4 misses the data for the the rear wheel sensor. Please only refer to Trike_5 (Trike_4 is a backup, "better than nothing")

[GabrieleDello]

Lateral direction & orientation

2024-12-17_UrbanA_1_0months
2024-12-18_UrbanA_2_0months
2024-12-18_UrbanA_3_0months
front_wheel: +Z
Rear_wheel: -X
SeatHead: -X
SeatBot: -X
BotTrike: +Y

2024-12-18_UrbanA_4_3months
front_wheel: +Z
Rear_wheel: -X
SeatHead: +X
SeatBot: +X
BotTrike: +Y

[moorepants]

I've gone through and checked all the orientations to make sure I have them matching what you have written here. It is all detailed in this file:

https://github.com/mechmotum/baby-vibration/blob/master/data/sessions.yml

I left note with "checked with" pointing to the relevant comments here and then many "TODO" notes pointing out the missing or unsure data.

[moorepants]

Sessions that need axes to be confirmed and input/edited still:

• session001: 2024-11-28_Maxicos_1_0months
• session005: 2024-11-28_Maxicos_1_0months
• session006: 2024-11-29_Bugaboo_5_9months
• session012: 2024-12-10_Maxicosi_7_9months
• session013: 2024-12-10_YOYO_5_0months
• session020: 2024-12-18_UrbanA_2_3months

[moorepants]

If you check off the list in the prior comment, also add a comment to the sessions.yml file of the form "checked: ..." that's how I was logging in that file that I had done a triple check on the axes.