diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
new file mode 100644
index 0000000..e0003dc
--- /dev/null
+++ b/.devcontainer/Dockerfile
@@ -0,0 +1,9 @@
+FROM squidfunk/mkdocs-material:latest
+
+RUN adduser -D -h /home/vscodeuser vscodeuser
+
+WORKDIR /docs
+
+RUN chown -R vscodeuser:vscodeuser /docs
+
+USER vscodeuser
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
new file mode 100644
index 0000000..32be7d1
--- /dev/null
+++ b/.devcontainer/devcontainer.json
@@ -0,0 +1,25 @@
+{
+ "name": "force-platform-docs",
+ "build": {
+ "dockerfile": "Dockerfile",
+ "context": ".."
+ },
+ "runArgs": [
+ "--name", "vsc-force-platform-docs"
+ ],
+ "remoteUser": "vscodeuser",
+ // Configure tool-specific properties.
+ "customizations": {
+ // Configure properties specific to VS Code.
+ "vscode": {
+ // Add the IDs of extensions you want installed when the container is created.
+ "extensions": [
+ "ms-python.vscode-pylance",
+ "ms-python.python",
+ "ms-python.debugpy",
+ "naumovs.color-highlight",
+ "davidanson.vscode-markdownlint"
+ ]
+ }
+ }
+ }
\ No newline at end of file
diff --git a/.github/workflows/project_docs_ci.yml b/.github/workflows/project_docs_ci.yml
new file mode 100644
index 0000000..05d6ebc
--- /dev/null
+++ b/.github/workflows/project_docs_ci.yml
@@ -0,0 +1,29 @@
+name: MkDocs page CI
+on:
+ push:
+ branches:
+ - master
+ - develop
+permissions:
+ contents: write
+jobs:
+ deploy:
+ runs-on: ubuntu-latest
+ steps:
+ - uses: actions/checkout@v4
+ - name: Configure Git Credentials
+ run: |
+ git config user.name github-actions[bot]
+ git config user.email 41898282+github-actions[bot]@users.noreply.github.com
+ - uses: actions/setup-python@v5
+ with:
+ python-version: 3.x
+ - run: echo "cache_id=$(date --utc '+%V')" >> $GITHUB_ENV
+ - uses: actions/cache@v4
+ with:
+ key: mkdocs-material-${{ env.cache_id }}
+ path: .cache
+ restore-keys: |
+ mkdocs-material-
+ - run: pip install mkdocs-material
+ - run: mkdocs gh-deploy --force
\ No newline at end of file
diff --git a/.nojekyll b/.nojekyll
new file mode 100644
index 0000000..e69de29
diff --git a/.python-version b/.python-version
new file mode 100644
index 0000000..c8cfe39
--- /dev/null
+++ b/.python-version
@@ -0,0 +1 @@
+3.10
diff --git a/README.md b/README.md
index 2d7e8ae..0fc0766 100644
--- a/README.md
+++ b/README.md
@@ -1,11 +1,12 @@
-
-
## Information
@@ -17,6 +18,7 @@ This project is part of the author's master's thesis in industrial engineering a
It supports currently the following sensor types:
+
- Phidget-Bridge compatible load sensors. (Requires Phidget dependency).
- Phidget encoders. (Requires Phidget dependency).
- Taobotics IMU sensors. (Requires MRPT dependency).
@@ -26,42 +28,85 @@ It supports currently the following sensor types:
Program documentation is available to learn how the program works and its usage.
-Check it out [here](docs/home.md).
+Check it out [here](https://aaronpb.github.io/force_platform/).
## Quick setup
-To use this project, clone it and install the project requirements.
-
-> [!TIP]\
-> Do it in a virtual environment to avoid module installation issues (using `virtualenv`, for example).
+> [!note]
+> There is a simplified and **dockerized** version of the software!
+>
+> [Check it out in this repository](https://github.com/AaronPB/force-platform-app)
-> This project is developed with Python v3.10.6
+Install the dependencies and clone the project into your workspace.
-Project requirements:
-```bash
-pip install -r requirements.txt
-```
+> [!WARNING]\
+> The project has been developed and tested in Ubuntu 22.04 LTS. Phidget does support [Windows](https://www.phidgets.com/docs/OS_-_Windows#Quick_Downloads) and [MacOS](https://www.phidgets.com/docs/OS_-_macOS#Quick_Downloads), but Taobotics IMUs do not.
### Phidget dependency
-For [Linux](https://www.phidgets.com/docs/OS_-_Linux#Quick_Downloads):
-
```bash
curl -fsSL https://www.phidgets.com/downloads/setup_linux | sudo -E bash - &&\
sudo apt-get install -y libphidget22
```
-> For [Windows](https://www.phidgets.com/docs/OS_-_Windows#Quick_Downloads) or [MacOS](https://www.phidgets.com/docs/OS_-_macOS#Quick_Downloads)
+> Phidget documentation of the [Linux Installer](https://www.phidgets.com/docs/OS_-_Linux#Quick_Downloads).
### MRPT dependency
-For more information, refer to the [MRPT Documentation](https://docs.mrpt.org/reference/latest/download-mrpt.html#debian-ubuntu-ppa)
-
```bash
-sudo add-apt-repository ppa:joseluisblancoc/mrpt
-sudo apt install libmrpt-dev mrpt-apps
+sudo add-apt-repository ppa:joseluisblancoc/mrpt &&\
+sudo apt install libmrpt-dev mrpt-apps &&\
sudo apt install python3-pymrpt
```
+> For more information, refer to the [MRPT Documentation](https://docs.mrpt.org/reference/latest/download-mrpt.html#debian-ubuntu-ppa).
+
+### Project requirements
+
+This project uses [UV](https://docs.astral.sh/uv/), a very powerfull tool to setup and manage python projects.
+
+Install UV:
+
+```bash
+curl -LsSf https://astral.sh/uv/install.sh | sh
+```
+
+Clone the `force_platform` repository and install the project requirements.
+
+Clone using the web URL:
+
+```bash
+git clone https://github.com/AaronPB/force_platform.git
+```
+
+Or clone with SSH:
+
+```bash
+git clone git@github.com:AaronPB/force_platform.git
+```
+
+Install the project requirements, going to the project's folder and entering:
+
+```bash
+uv venv &&\
+uv pip install -r uv.lock
+```
+
> [!WARNING]\
-> If you are using `virtualenv`, MRPT cannot be installed by pip. As a temporary solution, set `include-system-site-packages = true` in your `pyvenv.cfg` file.
+> MRPT cannot be installed by pip. As a temporary solution, set `include-system-site-packages = true` in your `.venv/pyvenv.cfg` file.
+
+### Run the sofware
+
+Run it using the following command:
+
+```bash
+uv run python main.py
+```
+
+## Acknowledgements
+
+This work has been funded by the "[Programa Operativo FEDER 2014-2020](https://www.miteco.gob.es/es/ministerio/servicios/ayudas-subvenciones/fondos_feder.html)" and the Andalusian "Consejería de Transformación Económica, Industria, Conocimiento y Universidades", under the project UAL2020-CTS-A2100.
+
+
+
diff --git a/config.yaml b/config.yaml
index 057ab4f..5bca884 100644
--- a/config.yaml
+++ b/config.yaml
@@ -471,7 +471,7 @@ sensors:
max_weight: 2000N
calibration:
slope: 1721022.287
- intercept: 0
+ intercept: 9.084240488658148
triax_y:
name: Triaxial_Y
type: SENSOR_LOADCELL
@@ -483,8 +483,8 @@ sensors:
serial_number: SN231206001
max_weight: 2000N
calibration:
- slope: 19773710.18
- intercept: 0
+ slope: 1771149.742
+ intercept: -7.513470975899034
triax_z:
name: Triaxial_Z
type: SENSOR_LOADCELL
@@ -496,5 +496,5 @@ sensors:
serial_number: SN231206001
max_weight: 2000N
calibration:
- slope: 1771149.742
- intercept: 0
+ slope: 1973710.18
+ intercept: -22.461957935716708
diff --git a/custom_configs/full_sensor_test.yaml b/custom_configs/full_sensor_test.yaml
index fdafb8f..0ea32b2 100644
--- a/custom_configs/full_sensor_test.yaml
+++ b/custom_configs/full_sensor_test.yaml
@@ -477,7 +477,7 @@ sensors:
max_weight: 2000N
calibration:
slope: 1721022.287
- intercept: 0
+ intercept: 9.084240488658148
triax_y:
name: Triaxial_Y
type: SENSOR_LOADCELL
@@ -489,8 +489,8 @@ sensors:
serial_number: SN231206001
max_weight: 2000N
calibration:
- slope: 19773710.18
- intercept: 0
+ slope: 1771149.742
+ intercept: -7.513470975899034
triax_z:
name: Triaxial_Z
type: SENSOR_LOADCELL
@@ -502,5 +502,5 @@ sensors:
serial_number: SN231206001
max_weight: 2000N
calibration:
- slope: 1771149.742
- intercept: 0
\ No newline at end of file
+ slope: 1973710.18
+ intercept: -22.461957935716708
\ No newline at end of file
diff --git a/custom_configs/full_test_8s-platforms.yaml b/custom_configs/full_test_8s-platforms.yaml
new file mode 100644
index 0000000..23aa1be
--- /dev/null
+++ b/custom_configs/full_test_8s-platforms.yaml
@@ -0,0 +1,498 @@
+settings:
+ test:
+ name: All sensors Test with 8-sensor platforms
+ folder_path: /path/to/folder
+ results:
+ save_raw: true
+ save_calib: true
+ recording:
+ data_interval_ms: 10
+ tare_data_amount: 300
+ calibration:
+ data_interval_ms: 10
+ data_amount: 300
+sensor_groups:
+ platform_1:
+ name: Platform 1
+ type: GROUP_PLATFORM
+ read: true
+ sensor_list:
+ - p1_z1
+ - p1_z2
+ - p1_z3
+ - p1_z4
+ - p1_x1
+ - p1_x3
+ - p1_y1
+ - p1_y3
+ platform_2:
+ name: Platform 2
+ type: GROUP_PLATFORM
+ read: true
+ sensor_list:
+ - p2_z1
+ - p2_z2
+ - p2_z3
+ - p2_z4
+ - p2_x1
+ - p2_x3
+ - p2_y1
+ - p2_y3
+ imus:
+ name: Body IMUs
+ type: GROUP_DEFAULT
+ read: true
+ sensor_list:
+ - imu_1
+ - imu_2
+ - imu_3
+ - imu_4
+ barbell_encoders:
+ name: Barbell encoders
+ type: GROUP_DEFAULT
+ read: true
+ sensor_list:
+ - encoder_1
+ - encoder_2
+cameras:
+ camera_1:
+ name: Camera
+ read: false
+ connection:
+ serial: /dev/video2
+ settings:
+ fps: 30.0
+ properties:
+ camera_model: Logitech Series
+sensors_calibration:
+ phidget_loadcell_reference: s_type
+ platform_reference_triaxial:
+ - triax_x
+ - triax_y
+ - triax_z
+sensors:
+ p1_z1:
+ name: P1_LoadCell_Z_1
+ type: SENSOR_LOADCELL
+ read: true
+ connection:
+ channel: 0
+ serial: 583477
+ properties:
+ serial_number: Y2131167
+ max_weight: 150kg
+ calibration:
+ slope: 1473800.0
+ intercept: -30.960028108135333
+ p1_z2:
+ name: P1_LoadCell_Z_2
+ type: SENSOR_LOADCELL
+ read: true
+ connection:
+ channel: 1
+ serial: 583477
+ properties:
+ serial_number: Y2131169
+ max_weight: 150kg
+ calibration:
+ slope: 1469700.0
+ intercept: -42.890445352665
+ p1_z3:
+ name: P1_LoadCell_Z_3
+ type: SENSOR_LOADCELL
+ read: true
+ connection:
+ channel: 2
+ serial: 583477
+ properties:
+ serial_number: W020822
+ max_weight: 150kg
+ calibration:
+ slope: 1471300.0
+ intercept: -28.284322205066665
+ p1_z4:
+ name: P1_LoadCell_Z_4
+ type: SENSOR_LOADCELL
+ read: true
+ connection:
+ channel: 3
+ serial: 583477
+ read_data: true
+ properties:
+ serial_number: Y2131168
+ max_weight: 150kg
+ calibration:
+ slope: 1468200.0
+ intercept: -54.766444296276
+ p1_x1:
+ name: P1_LoadCell_X_1
+ type: SENSOR_LOADCELL
+ read: true
+ connection:
+ channel: 0
+ serial: 583467
+ properties:
+ serial_number: TT805051
+ max_weight: 110kg
+ calibration:
+ slope: 1078100.0
+ intercept: -140.02490171765135
+ p1_x2:
+ name: P1_LoadCell_X_2
+ type: SENSOR_LOADCELL
+ read: true
+ connection:
+ channel: 1
+ serial: 583467
+ properties:
+ serial_number: TT805067
+ max_weight: 110kg
+ calibration:
+ slope: 1068987.36
+ intercept: 0
+ p1_x3:
+ name: P1_LoadCell_X_3
+ type: SENSOR_LOADCELL
+ read: true
+ connection:
+ channel: 2
+ serial: 583467
+ properties:
+ serial_number: TT805061
+ max_weight: 110kg
+ calibration:
+ slope: 1077000.0
+ intercept: -138.50904882609
+ p1_x4:
+ name: P1_LoadCell_X_4
+ type: SENSOR_LOADCELL
+ read: true
+ connection:
+ channel: 3
+ serial: 583467
+ properties:
+ serial_number: TT805082
+ max_weight: 110kg
+ calibration:
+ slope: 1069820.71
+ intercept: 0
+ p1_y1:
+ name: P1_LoadCell_Y_1
+ type: SENSOR_LOADCELL
+ read: true
+ connection:
+ channel: 0
+ serial: 588715
+ properties:
+ serial_number: TT805088
+ max_weight: 110kg
+ calibration:
+ slope: 1077900.0
+ intercept: -82.17118213006
+ p1_y2:
+ name: P1_LoadCell_Y_2
+ type: SENSOR_LOADCELL
+ read: true
+ connection:
+ channel: 1
+ serial: 588715
+ properties:
+ serial_number: TT805064
+ max_weight: 110kg
+ calibration:
+ slope: 1071275.8
+ intercept: 0
+ p1_y3:
+ name: P1_LoadCell_Y_3
+ type: SENSOR_LOADCELL
+ read: true
+ connection:
+ channel: 2
+ serial: 588715
+ properties:
+ serial_number: TC755992
+ max_weight: 110kg
+ calibration:
+ slope: 1081000.0
+ intercept: -93.16521404881667
+ p1_y4:
+ name: P1_LoadCell_Y_4
+ type: SENSOR_LOADCELL
+ read: true
+ connection:
+ channel: 3
+ serial: 588715
+ properties:
+ serial_number: TT805053
+ max_weight: 110kg
+ calibration:
+ slope: 1069900.5
+ intercept: 0
+ p2_z1:
+ name: P2_LoadCell_Z_1
+ type: SENSOR_LOADCELL
+ read: true
+ connection:
+ channel: 0
+ serial: 588569
+ properties:
+ serial_number: W019737
+ max_weight: 150kg
+ calibration:
+ slope: 1469800
+ intercept: -64.92588478829333
+ p2_z2:
+ name: P2_LoadCell_Z_2
+ type: SENSOR_LOADCELL
+ read: true
+ connection:
+ channel: 1
+ serial: 588569
+ properties:
+ serial_number: Z1162733
+ max_weight: 150kg
+ calibration:
+ slope: 1465500
+ intercept: -30.872206732949998
+ p2_z3:
+ name: P2_LoadCell_Z_3
+ type: SENSOR_LOADCELL
+ read: true
+ connection:
+ channel: 2
+ serial: 588569
+ properties:
+ serial_number: Z1162736
+ max_weight: 150kg
+ calibration:
+ slope: 1472100
+ intercept: -59.380165382251
+ p2_z4:
+ name: P2_LoadCell_Z_4
+ type: SENSOR_LOADCELL
+ read: true
+ connection:
+ channel: 3
+ serial: 588569
+ properties:
+ serial_number: Z1162741
+ max_weight: 150kg
+ calibration:
+ slope: 1470200
+ intercept: -37.169974099280665
+ p2_x1:
+ name: P2_LoadCell_X_1
+ type: SENSOR_LOADCELL
+ read: true
+ connection:
+ channel: 0
+ serial: 588718
+ properties:
+ serial_number: TT805059
+ max_weight: 110kg
+ calibration:
+ slope: 1079100
+ intercept: -28.170736000538994
+ p2_x2:
+ name: P2_LoadCell_X_2
+ type: SENSOR_LOADCELL
+ read: true
+ connection:
+ channel: 1
+ serial: 588718
+ properties:
+ serial_number: TT805079
+ max_weight: 110kg
+ calibration:
+ slope: 1061125.79
+ intercept: 0
+ p2_x3:
+ name: P2_LoadCell_X_3
+ type: SENSOR_LOADCELL
+ read: true
+ connection:
+ channel: 2
+ serial: 588718
+ properties:
+ serial_number: TT805063
+ max_weight: 110kg
+ calibration:
+ slope: 1080500
+ intercept: -28.287120065613337
+ p2_x4:
+ name: P2_LoadCell_X_4
+ type: SENSOR_LOADCELL
+ read: true
+ connection:
+ channel: 3
+ serial: 588718
+ properties:
+ serial_number: TT805056
+ max_weight: 110kg
+ calibration:
+ slope: 1074300.01
+ intercept: 0
+ p2_y1:
+ name: P2_LoadCell_Y_1
+ type: SENSOR_LOADCELL
+ read: true
+ connection:
+ channel: 0
+ serial: 582535
+ properties:
+ serial_number: TT805080
+ max_weight: 110kg
+ calibration:
+ slope: 1077000
+ intercept: -22.321758496930002
+ p2_y2:
+ name: P2_LoadCell_Y_2
+ type: SENSOR_LOADCELL
+ read: true
+ connection:
+ channel: 1
+ serial: 582535
+ properties:
+ serial_number: TT805058
+ max_weight: 110kg
+ calibration:
+ slope: 1070497.24
+ intercept: 0
+ p2_y3:
+ name: P2_LoadCell_Y_3
+ type: SENSOR_LOADCELL
+ read: true
+ connection:
+ channel: 2
+ serial: 582535
+ properties:
+ serial_number: TT805068
+ max_weight: 110kg
+ calibration:
+ slope: 1082100
+ intercept: -18.890641953455
+ p2_y4:
+ name: P2_LoadCell_Y_4
+ type: SENSOR_LOADCELL
+ read: true
+ connection:
+ channel: 3
+ serial: 582535
+ properties:
+ serial_number: TT805066
+ max_weight: 110kg
+ calibration:
+ slope: 1063008.94
+ intercept: 0
+ encoder_1:
+ name: Encoder_Z_1
+ type: SENSOR_ENCODER
+ read: true
+ connection:
+ channel: 0
+ serial: 641800
+ initial_position: 0
+ properties:
+ serial_number: AAAA
+ max_length: 2500mm
+ calibration:
+ slope: 0.01875
+ intercept: 0.0
+ encoder_2:
+ name: Encoder_Z_2
+ type: SENSOR_ENCODER
+ read: true
+ connection:
+ channel: 1
+ serial: 641800
+ initial_position: 0
+ properties:
+ serial_number: AAAA
+ max_length: 2500mm
+ calibration:
+ slope: 0.01875
+ intercept: 0.0
+ imu_1:
+ name: IMU_Leg_Right
+ type: SENSOR_IMU
+ read: true
+ connection:
+ serial: /dev/serial/by-path/pci-0000:03:00.3-usb-0:2.1.4.1:1.0-port0
+ properties:
+ tag: IMU_1
+ imu_2:
+ name: IMU_Thigh_Right
+ type: SENSOR_IMU
+ read: true
+ connection:
+ serial: /dev/serial/by-path/pci-0000:03:00.3-usb-0:2.1.4.2:1.0-port0
+ properties:
+ tag: IMU_2
+ imu_3:
+ name: IMU_UpperTrunk_Right
+ type: SENSOR_IMU
+ read: true
+ connection:
+ serial: /dev/serial/by-path/pci-0000:03:00.3-usb-0:2.1.4.3:1.0-port0
+ properties:
+ tag: IMU_3
+ imu_4:
+ name: IMU_UpperTrunk_Right2
+ type: SENSOR_IMU
+ read: true
+ connection:
+ serial: /dev/serial/by-path/pci-0000:03:00.3-usb-0:2.1.4.4:1.0-port0
+ properties:
+ tag: IMU_4
+ s_type:
+ name: S-Type Phidget Load Cell
+ type: SENSOR_LOADCELL
+ read: true
+ connection:
+ channel: 0
+ serial: 583229
+ properties:
+ serial_number: 1906240722
+ max_weight: 100kg
+ calibration:
+ slope: 31851.0
+ intercept: -0.3355
+ triax_x:
+ name: Triaxial_X
+ type: SENSOR_LOADCELL
+ read: true
+ connection:
+ channel: 0
+ serial: 583229
+ properties:
+ serial_number: SN231206001
+ max_weight: 2000N
+ calibration:
+ slope: 1721022.287
+ intercept: 9.084240488658148
+ triax_y:
+ name: Triaxial_Y
+ type: SENSOR_LOADCELL
+ read: true
+ connection:
+ channel: 1
+ serial: 583229
+ properties:
+ serial_number: SN231206001
+ max_weight: 2000N
+ calibration:
+ slope: 1771149.742
+ intercept: -7.513470975899034
+ triax_z:
+ name: Triaxial_Z
+ type: SENSOR_LOADCELL
+ read: true
+ connection:
+ channel: 2
+ serial: 583229
+ properties:
+ serial_number: SN231206001
+ max_weight: 2000N
+ calibration:
+ slope: 1973710.18
+ intercept: -22.461957935716708
diff --git a/custom_configs/manual_platform_calibration.yaml b/custom_configs/manual_platform_calibration.yaml
index 409cbca..007cf4b 100644
--- a/custom_configs/manual_platform_calibration.yaml
+++ b/custom_configs/manual_platform_calibration.yaml
@@ -55,8 +55,8 @@ sensor_groups:
- triax_y
- triax_z
sensors_calibration:
- phidget_loadcell_reference: s_type
- platform_reference_triaxial: null
+ phidget_loadcell_reference: null
+ platform_reference_triaxial: []
sensors:
p1_z1:
name: P1_LoadCell_Z_1
diff --git a/docs/.gitignore b/docs/.gitignore
deleted file mode 100644
index 44cff8e..0000000
--- a/docs/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-/.obsidian
-/tests
\ No newline at end of file
diff --git a/docs/assets/project_logo.svg b/docs/assets/project_logo.svg
new file mode 100755
index 0000000..b3405d4
--- /dev/null
+++ b/docs/assets/project_logo.svg
@@ -0,0 +1,75 @@
+
+
+
+
+
+
+
+ image/svg+xml
+
+
+
+
+
+
diff --git a/docs/assets/project_logo_name.png b/docs/assets/project_logo_name.png
new file mode 100755
index 0000000..2adb4ac
Binary files /dev/null and b/docs/assets/project_logo_name.png differ
diff --git a/docs/assets/union_europea-junta_de_andalucia.png b/docs/assets/union_europea-junta_de_andalucia.png
new file mode 100644
index 0000000..cb801c3
Binary files /dev/null and b/docs/assets/union_europea-junta_de_andalucia.png differ
diff --git a/docs/assets/union_europea-junta_de_andalucia_modooscuro.png b/docs/assets/union_europea-junta_de_andalucia_modooscuro.png
new file mode 100644
index 0000000..84fec18
Binary files /dev/null and b/docs/assets/union_europea-junta_de_andalucia_modooscuro.png differ
diff --git a/docs/home.md b/docs/home.md
deleted file mode 100644
index 5bcfd21..0000000
--- a/docs/home.md
+++ /dev/null
@@ -1,17 +0,0 @@
-# The Force Platform Documentation
-
-**Please note that this wiki is a work in progress and may be incomplete.**
-
-Welcome to the `force_platform` documentation! Here you will find all the necessary information to be able to manage the program properly.
-
-
-
-## Documentation sections
-
-Here is an ordered list of the documentation files provided in this wiki.
-
-1. [Project setup](setup/project.md)
-2. [Config file](setup/config_file.md)
-3. [Compatible sensors](setup/sensors.md)
-4. [Execute a test](features/general_test.md)
-5. [Calibrate sensors](features/calibration_test.md)
\ No newline at end of file
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+---
+hide:
+ - navigation
+ - toc
+title: Home
+---
+#
+
+
+
+
+
+- :fontawesome-solid-truck-fast:{ .lg .middle } __Set up in 10 minutes__
+
+ ---
+
+ Get up and running in minutes
+
+ [:fontawesome-brands-linux: Install the legacy version](software/legacy_qt/index.md)
+
+ [:fontawesome-brands-docker: Install the docker version](software/docker_streamlit/index.md) [(DockerHub repo)](https://hub.docker.com/r/aaronrpb/force-platform-app)
+
+- :fontawesome-solid-microchip:{ .lg .middle } __Sensor compatibility__
+
+ ---
+
+ The Phidget [Load Cell](https://www.phidgets.com/?tier=2&catid=98&pcid=78) and [Encoder](https://www.phidgets.com/?tier=1&catid=4&pcid=2) interfaces are compatible with a wide range of sensors
+
+ [:octicons-arrow-right-24: More information](software/legacy_qt/setup/sensors.md)
+
+- :fontawesome-solid-gear:{ .lg .middle } __Highly configurable__
+
+ ---
+
+ Sensors are defined into group types, working in a modular and flexible way
+
+ [:octicons-arrow-right-24: Configuration file](software/legacy_qt/setup/config_file.md)
+
+- :fontawesome-solid-file-csv:{ .lg .middle } __Data recording and CSV export__
+
+ ---
+
+ It supports sampling rates up to 100 Hz and CSV data export, with or without sensor calibration parameters
+
+- :fontawesome-solid-sliders:{ .lg .middle } __Calibration feature__
+
+ ---
+
+ It includes an interactive calibration panel to adjust sensor calibration parameters
+
+ [:octicons-arrow-right-24: Calibrate sensors](software/legacy_qt/usage/calibration_test.md)
+
+- :fontawesome-solid-scale-balanced:{ .lg .middle } __Open Source, GPL-3.0__
+
+ ---
+
+ The software is licensed under the GNU GPL-3.0 and available on [GitHub](https://github.com/AaronPB/force_platform)
+
+ [:octicons-arrow-right-24: License](https://github.com/AaronPB/force_platform/blob/develop/LICENSE)
+
+
+
+## About the Software
+
+
+
+
+
+
+
+
+A python software for synchronized data management of specific force platforms sensors compatible with [Phidget API](https://www.phidgets.com/docs/Phidget22?srsltid=AfmBOorPWIP_i6m9MabFbrDAVYYXTi3JjgvsbhZHfs7VnlNO6sR47uO3) and other sensor types such as IMUs.
+
+This project is part of the [author](https://github.com/AaronPB)'s master's thesis in industrial engineering at the University of Almería
+and funded by the "[Programa Operativo FEDER 2014-2020](https://www.miteco.gob.es/es/ministerio/servicios/ayudas-subvenciones/fondos_feder.html)" and the Andalusian "Consejería de Transformación Económica, Industria, Conocimiento y Universidades", under the project UAL2020-CTS-A2100.
+
+[:fontawesome-solid-book: More information about the project](platform/index.md){ .md-button .md-button--primary }
+
+
+{ width="500px" }
+{ width="500px" }
+
+
+
+
+
+
+
+The configuration file uses `YAML` format for better readability, and all sensors are stored in a single configuration section for a more structured setup.
+
+Sensors are then organized into __sensor groups__. If a sensor does not belong to a group, it will be ignored.
+
+!!! success "Sensor groups are fully flexible"
+ You can define a group with sensors of the same type or different types.
+
+ Within the program, you can enable or disable specific sensors within a group or an entire group.
+
+For more details, check out the following documentation page:
+
+[:fontawesome-solid-gear: Configuration file](software/legacy_qt/setup/config_file.md){ .md-button .md-button--secondary }
+
+
+
+=== "Settings section"
+
+ *Just simple and straightforward settings.*
+
+ *You can even import customized configuration files with different sensors and group setups.*
+
+ ``` yaml
+ settings:
+ custom_config_path: null
+ test:
+ name: Name
+ folder_path: /tests/
+ results:
+ save_raw: true
+ save_calib: true
+ recording:
+ data_interval_ms: 10
+ tare_data_amount: 300
+ calibration:
+ data_interval_ms: 10
+ data_amount: 300
+ ```
+
+=== "Sensor groups section"
+
+ *Group your sensors to get specific graphs based on the group type and enhance data organization in CSV exports.*
+
+ ``` yaml
+ sensor_groups:
+ imus:
+ name: Body IMUs
+ type: GROUP_DEFAULT
+ read: true
+ sensor_list:
+ - imu_1
+ - imu_2
+ - imu_3
+ barbell_encoders:
+ name: Barbell encoders
+ type: GROUP_DEFAULT
+ read: true
+ sensor_list:
+ - encoder_1
+ - encoder_2
+ ```
+
+=== "Sensors section"
+
+ *Define all your sensors in this section.*
+
+ ``` yaml
+ sensors:
+ encoder_1:
+ name: Encoder_Z_1
+ type: SENSOR_ENCODER
+ read: true
+ connection:
+ channel: 0
+ serial: 641800
+ initial_position: 0
+ properties:
+ serial_number: AAAA
+ max_length: 2500mm
+ calibration:
+ slope: 0.01875
+ intercept: 0.0
+ ```
+
+
+
+
+
+
+
+
+
+
+You can visualize the recorded data directly from the graph tabs.
+
+There are graphs for each recorded sensor, as well as specific ones depending on the sensor group type, such as force platforms.
+
+It is also possible to trim the data and adjust the Butterworth filter used for signal processing.
+
+For data export, the CSV format is used, allowing both raw data export and processed data export using the sensors' calibration parameters.
+
+
+
+
+
+
+
+### Legacy version
+
+[:fontawesome-brands-github: GitHub repository](https://github.com/AaronPB/force_platform){ .md-button .md-button--primary }
+
+This version was originally developed for internal use, with Python and QT.
+
+Install the required dependencies and clone the project into your workspace.
+You can follow this steps to set it up in a few minutes.
+
+!!! warning "Only Linux distributions are supported, preferably Ubuntu 22.04 LTS"
+ The project has been developed and tested in Ubuntu 22.04 LTS. Phidget does support [Windows](https://www.phidgets.com/docs/OS_-_Windows#Quick_Downloads)
+ and [MacOS](https://www.phidgets.com/docs/OS_-_macOS#Quick_Downloads), but Taobotics IMUs do not.
+
+
+
+- :fontawesome-solid-terminal:{ .lg .middle } __Step 1: Install dependencies, UV and clone the repository__
+
+ ---
+
+ === "Phidget22"
+
+ ``` bash
+ curl -fsSL https://www.phidgets.com/downloads/setup_linux | sudo -E bash - &&\
+ sudo apt-get install -y libphidget22
+ ```
+
+ === "MRPT"
+
+ ``` bash
+ sudo add-apt-repository ppa:joseluisblancoc/mrpt &&\
+ sudo apt install libmrpt-dev mrpt-apps &&\
+ sudo apt install python3-pymrpt
+ ```
+
+ === "UV"
+
+ ``` bash
+ curl -LsSf https://astral.sh/uv/install.sh | sh
+ ```
+
+ === "`force_platform` repository"
+
+ ``` bash
+ git clone https://github.com/AaronPB/force_platform.git
+ ```
+
+- :fontawesome-solid-file-lines:{ .lg .middle } __Step 2: UV install and run the software__
+
+ ---
+
+ ```bash
+ cd to/the/force_platform/repository &&\
+ uv venv &&\
+ uv pip install -r uv.lock
+ ```
+
+ !!! warning "Enable `include-system-site-packages` in `.venv/pyvenv.cfg`"
+
+ ```bash
+ uv run python main.py
+ ```
+
+
+
+
+
+
+### Docker version
+
+[:fontawesome-brands-github: GitHub repository](https://github.com/AaronPB/force-platform-app){ .md-button .md-button--primary }
+[:fontawesome-brands-docker: DockerHub](https://hub.docker.com/r/aaronrpb/force-platform-app){ .md-button .md-button--primary }
+
+An optimized and comfortable option, with the main features.
+
+Simple to install using Docker, and with all the documentation available inside the app, ready to go!
+
+!!! success "Available for Windows and Linux distros"
+ The project has been tested in Windows 11, Ubuntu 22.04 LTS and Fedora Workstation 41. It has not been tested in MacOS, but it has a high chance to also work, as it is a dockerized version.
+
+
+
+- :fontawesome-brands-docker:{ .lg .middle } __Step 1: Run a new docker container__
+
+ ---
+
+ Just a quick `docker run` in your docker environment and you are ready to go!
+
+ === "From DockerHub"
+
+ ``` bash
+ docker run -d --name example_app \
+ --device /dev/bus/usb \
+ --device /dev/ttyUSB0 \
+ --device /dev/ttyUSB1 \
+ -p 8501:8501 \
+ aaronrpb/force-platform-app
+ ```
+
+ === "From GHCR"
+
+ ``` bash
+ docker run -d --name example_app \
+ --device /dev/bus/usb \
+ --device /dev/ttyUSB0 \
+ --device /dev/ttyUSB1 \
+ -p 8501:8501 \
+ ghcr.io/aaronpb/force-platform-app
+ ```
+
+ !!! note "Add or remove arguments depending on your setup. For more information click below."
+
+ [:fontawesome-solid-download: Detailed docker setup steps](software/docker_streamlit/setup/project_linux.md){ .md-button .md-button--secondary }
+
+
+
+
+
+ { width="60%" }
+ Location of uniaxial load cell groups.
+
+
+The platform includes four mounts for vertical load cells and eight mounts for horizontal load cells. Tests have been conducted using both 12 load cells in total, and a reduced configuration with 8 (4 vertical and 4 horizontal—2 per horizontal axis, placed in opposing directions).
+
+The latter setup offers increased stability for the platform's top surface.
+
+## Fabrication drawings
+
+[:material-file-cad:{.lg} Download fabrication drawings (DXF)](Prototipo_FP_v1_2023.dxf){ .md-button .md-button--primary }
+
+## List of elements
+
+| Drawing nº | Drawing name :flag_es: | Translated name :flag_gb: | Material | Amount |
+| :---: | :--- | :--- | :--- | :---: |
+| 1 | Base Móvil | Mobile plate | Aluminum | 1 |
+| 2 | Base Fija | Fixed plate | Methacrylate | 1 |
+| 3 | Pared Corta A | Short wall A | Aluminum | 1 |
+| 4 | Pared Corta B | Short wall B | Aluminum | 1 |
+| 5 | Pared Larga | Long wall | Aluminum | 2 |
+| 6 | Esquinero A | Corner side A | Aluminum | 2 |
+| 7 | Esquinero B | Corner side B | Aluminum | 2 |
+| 8 | Base Rueda Vertical | Vertical ball plate | Aluminum | 4 |
+| 9 | Angular | Angular | Aluminum | 8 |
+| 10 | Soporte célula horizontal 1A | Horizontal load cell support 1A | Aluminum | 2 |
+| 11 | Soporte célula horizontal 1B | Horizontal load cell support 1B | Aluminum | 2 |
+| 12 | Soporte célula horizontal 2A | Horizontal load cell support 2A | Aluminum | 2 |
+| 13 | Soporte célula horizontal 2B | Horizontal load cell support 2B | Aluminum | 2 |
+| 14 | Soporte célula vertical | Vertical load cell support | Aluminum | 4 |
+| 15 | Placa apoyo rueda | Ball support plate | Cemented carbide | 12 |
\ No newline at end of file
diff --git a/docs/platform/index.md b/docs/platform/index.md
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--- /dev/null
+++ b/docs/platform/index.md
@@ -0,0 +1,72 @@
+# The project
+
+The work presented in this website has been partially founded by the "[Programa Operativo FEDER 2014-2020](https://www.miteco.gob.es/es/ministerio/servicios/ayudas-subvenciones/fondos_feder.html)" and the Andalusian "Consejería de Transformación Económica, Industria, Conocimiento y Universidades", under the project UAL2020-CTS-A2100 (with the acronym CM-FORCE), entitled "Fabricación y evaluación electromiográfica y biomecánica de un mecanismo de fuerza constante para los ejercicios de acondicionamiento muscular".
+
+
+{ width="500px" }
+{ width="500px" }
+
+
+The project's title can be translated as "Manufacturing and electromyographic and biomechanical evaluation of a constant force mechanism for muscle conditioning exercises".
+
+## General objectives of CM-FORCE
+
+The founding project aims to:
+
+- Design and implement a constant-force mechanism as a loading system in a Smith-type resistance training machine.
+- Evaluate and compare the kinematics, kinetics, electromyographic activity, and muscular forces between free-weight (isoinertial) loading systems and the constant-force mechanism during bench press and squat exercises.
+
+
+ { width="100%" }
+ CAD design of the constant-force mechanism and an image of the prototype mounted in a H5KS Hounsfield testing machine. [Source](https://www.sciencedirect.com/science/article/pii/S0094114X22000891#fig2).
+
+
+Research articles related to the designed constant-force mechanism:
+
+[:fontawesome-solid-file-invoice: Design and analysis of a constant-force bench press](https://www.sciencedirect.com/science/article/pii/S0094114X19315472){ .md-button .md-button--primary }
+
+[:fontawesome-solid-file-invoice: Experimental validation of a constant-force mechanism and analysis of its performance with a calibrated multibody model](https://www.sciencedirect.com/science/article/pii/S0094114X22000891){ .md-button .md-button--primary }
+
+## Improvement of the sensorization infrastructure in a kinesiology and biomechanics laboratory
+
+In order to enhance the quality of experimental protocols and the reliability of the results obtained throughout the project, an upgrade of the laboratory’s sensor systems was undertaken.
+
+Particular emphasis was placed on the force platforms, which were previously uniaxial, and on achieving precise data synchronization between the force platforms and other measurement devices, including encoders and inertial measurement units (IMUs).
+
+This phase of the CM-FORCE project involved the design of a new triaxial force platform, along with the development of software aimed at synchronizing data across different types and groups of sensors.
+
+## Results
+
+[:fontawesome-solid-flask: Checkout the research section for more details](./research.md){ .md-button .md-button--primary }
+
+### Design of a triaxial force platform
+
+A new triaxial force platform based on uniaxial load cells has been designed and manufactured.
+
+
+ { width="100%" }
+ Interior of the designed force platform.
+
+
+Fabrication drawings are available and can be downloaded at the following section:
+
+[:material-file-cad:{.lg} Force platform design](./design.md){ .md-button .md-button--primary }
+
+### New calibration method for triaxial platforms
+
+A new calibration method has been developed for triaxial force platforms using a Smith-type resistance training machine.
+Check the article preprint here:
+
+[:fontawesome-solid-file-half-dashed: A new 3D force platform and calibration method](http://ssrn.com/abstract=5226079){ .md-button .md-button--primary }
+
+### Force Platform Reader
+
+The software itself. There are two versions:
+
+- __Legacy version__: the initial software developed with QT version 6.0. This version was made for internal usage and will no longer be maintained.
+
+[:fontawesome-brands-python: Legacy version documentation](../software/legacy_qt/index.md){ .md-button .md-button--primary }
+
+- __Docker version__: a dockerized streamlit app with the main functions of the original software. This is the final product of the software project, with an optimized synchronized recording process using threads in python.
+
+[:fontawesome-brands-docker: Docker version documentation](../software/docker_streamlit/index.md){ .md-button .md-button--primary }
diff --git a/docs/platform/research.md b/docs/platform/research.md
new file mode 100644
index 0000000..97f729b
--- /dev/null
+++ b/docs/platform/research.md
@@ -0,0 +1,57 @@
+## :fontawesome-solid-file-invoice:{ .lg .middle } A new 3D force platform and calibration method
+
+[:fontawesome-solid-file-half-dashed: Preprint article](http://ssrn.com/abstract=5226079){ .md-button .md-button--primary }
+
+This work introduces a novel 3D force platform design grounded on the use of planar uniaxial load cells and ball wheels, easy to
+manufacture from off-the-self components leading to an affordable and accurate system. An accompanying open-sourced software
+allows an easy use of the force platforms.
+
+A novel calibration method for 3D force platforms is proposed, whose setup uses a
+Smith-type bodybuilding machine, a triaxial load cell and a pole, allowing in-situ calibration and the application of multidirectional
+loads, including those exceeding body weight. The calibration matrix is obtained by applying least squares and cross-validation
+methodology.
+
+
+ { width="100%" }
+ Article graphical abstract.
+
+
+## :fontawesome-solid-book:{ .lg .middle } Software development and calibration of a force platform for Sports Science
+
+[:fontawesome-solid-graduation-cap: Institutional repository *(available soon)*](#){ .md-button .md-button--secondary }
+
+[Author](https://github.com/AaronPB)'s master's thesis in industrial engineering at the University of Almería
+
+This work aims to develop the data acquisition software and calibration procedure of a
+new triaxial force platform, based on uniaxial load cells with force decoupling between
+them, ensuring an accurate reading of the normal load to each cell.
+
+The software allows synchronized recording of signals from the force platform, along
+with other sensors used in biomechanical analysis such as encoders, inertial sensors,
+and cameras. Additionally, it offers a set of tools available to researchers and Sports
+Science professionals to visualize and analyze data directly from the software.
+
+
+ { width="100%" }
+ Developed software: Force Platform Reader.
+
+
+## :fontawesome-solid-file-contract:{ .lg .middle } Utility Model - Triaxial force platform based on uniaxial load cells
+
+[:fontawesome-solid-globe: OEPM Utility Model ES1312312](https://consultas2.oepm.es/InvenesWeb/detalle?referencia=U202431233&trk=public_profile_certification-title){ .md-button .md-button--primary }
+
+Utility Model number ES1312312, requested by the universities of Almería and Seville.
+
+__Inventors__
+
+- Javier López Martínez
+- Aarón Raúl Poyatos Bakker
+- Silvia Sánchez Salinas
+- José Luis Blanco Claraco
+- José María Muyor Rodríguez
+- Daniel García Vallejo
+
+
+ { width="100%" }
+ Interior of the designed force platform.
+
diff --git a/docs/setup/project.md b/docs/setup/project.md
deleted file mode 100644
index 01006cc..0000000
--- a/docs/setup/project.md
+++ /dev/null
@@ -1,77 +0,0 @@
-[:house: `Back to Home`](../home.md)
-
-# Project setup
-
-The installation process will be explained for **Linux**. It is also possible to install on Windows and MacOs (not tested) if the required dependencies have support for those OS.
-
-> [!NOTE]
-> Please note that if you do not use Linux and you want to use the Taobotics IMUs, you will have to manage its drivers.
-
-The project has been tested in `Windows 11` without IMUs, and in `Ubuntu 12.04 LTS` with Taobotics IMUs.
-
-## Dependencies
-
-- **Python version `3.10` or `3.11`**. In case you want to use recent versions, check the [requirements](../../requirements.txt) for potential conflicts with the required python modules.
-- **Phidget22**. For Phidget load cells and encoders.
-- **MRPT**. To use the `pymrpt` library for the Taobotics IMUs.
-
-## Installation procedure
-
-### 1. Clone the repository
-
-Clone the `force_platform` repository:
-
-```bash
-git clone git@github.com:AaronPB/force_platform.git
-```
-
-### 2. Install python required modules
-
-Install the project requirements:
-
-```bash
-cd force_platform/
-pip install -r requirements
-```
-
-### 3. Install sensor dependencies
-
-#### Phidget dependency
-
-For [Linux](https://www.phidgets.com/docs/OS_-_Linux#Quick_Downloads):
-
-```bash
-curl -fsSL https://www.phidgets.com/downloads/setup_linux | sudo -E bash - &&\
-sudo apt-get install -y libphidget22
-```
-
-> For [Windows](https://www.phidgets.com/docs/OS_-_Windows#Quick_Downloads) or [MacOS](https://www.phidgets.com/docs/OS_-_macOS#Quick_Downloads)
-
-#### MRPT dependency
-
-For more information, refer to the [MRPT Documentation](https://docs.mrpt.org/reference/latest/download-mrpt.html#debian-ubuntu-ppa)
-
-```bash
-sudo add-apt-repository ppa:joseluisblancoc/mrpt
-sudo apt install libmrpt-dev mrpt-apps
-sudo apt install python3-pymrpt
-```
-
-> [!WARNING]
-> If you are using `virtualenv` (or any other virtual environment), MRPT cannot be installed by pip. As a temporary solution, set `include-system-site-packages = true` in your `pyvenv.cfg` file.
-
-## Run the project
-
-When all dependencies are installed, try to run the `main.py` file in the `force_platform` repository from IDE or a terminal:
-
-```bash
-cd force_platform/
-chmod +x main.py
-main.py
-```
-
-If the main GUI shows up, its done!
-
----
-
-[:house: `Back to Home`](../home.md)
\ No newline at end of file
diff --git a/docs/software/docker_streamlit/index.md b/docs/software/docker_streamlit/index.md
new file mode 100644
index 0000000..b4a98a2
--- /dev/null
+++ b/docs/software/docker_streamlit/index.md
@@ -0,0 +1,27 @@
+# Simple - Powerful - Dockerized
+
+
+
+A dockerized and optimized version of the original software.
+It uses asynchronous threads to capture data from each sensor and barriers for synchronized data storage.
+
+Data can be easily checked into datatables in raw, filtered and calibrated versions and be visualized in the graph section.
+
+Built with Streamlit, the interface runs natively in any web browser.
+Documentation is fully integrated into the app, making it easy to access and interact with.
+
+## Sensor support
+
+- Phidget-Bridge compatible load sensors.
+- Phidget encoders.
+- Taobotics IMU sensors.
+
+## Features
+
+- Integrated documentation.
+- General settings.
+- Data recording and auto recording option within a provided time frame.
+- Tare function.
+- Data tables preview.
+- Filter settings.
+- Graphical data visualization and save options into different formats.
\ No newline at end of file
diff --git a/docs/software/docker_streamlit/setup/project_linux.md b/docs/software/docker_streamlit/setup/project_linux.md
new file mode 100644
index 0000000..2f73d46
--- /dev/null
+++ b/docs/software/docker_streamlit/setup/project_linux.md
@@ -0,0 +1,175 @@
+# Project setup - Linux distros
+
+Installation steps for Linux distros.
+
+!!! abstract "Tested on Ubuntu and Fedora distros"
+
+## Install Docker Engine
+
+Install the [Docker Engine](https://docs.docker.com/engine/install/).
+
+The procedures for [Ubuntu](https://docs.docker.com/engine/install/ubuntu/) and [Fedora](https://docs.docker.com/engine/install/fedora/) are shown below (copied from the Docker documentation page).
+
+=== "Ubuntu"
+
+ Set up Docker's `apt` repository
+
+ ```bash
+ # Add Docker's official GPG key:
+ sudo apt-get update
+ sudo apt-get install ca-certificates curl
+ sudo install -m 0755 -d /etc/apt/keyrings
+ sudo curl -fsSL https://download.docker.com/linux/ubuntu/gpg -o /etc/apt/keyrings/docker.asc
+ sudo chmod a+r /etc/apt/keyrings/docker.asc
+
+ # Add the repository to Apt sources:
+ echo \
+ "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.asc] https://download.docker.com/linux/ubuntu \
+ $(. /etc/os-release && echo "${UBUNTU_CODENAME:-$VERSION_CODENAME}") stable" | \
+ sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
+ sudo apt-get update
+ ```
+
+ Install the Docker packages.
+
+ ```bash
+ sudo apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin
+ ```
+
+=== "Fedora"
+
+ Install the `dnf-plugins-core` package (which provides the commands to manage your DNF repositories) and set up the repository.
+
+ ```bash
+ sudo dnf -y install dnf-plugins-core
+ sudo dnf-3 config-manager --add-repo https://download.docker.com/linux/fedora/docker-ce.repo
+ ```
+
+ Install the Docker packages.
+
+ ```bash
+ sudo dnf install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin
+ ```
+
+ !!! info
+ If prompted to accept the GPG key, verify that the fingerprint matches `060A 61C5 1B55 8A7F 742B 77AA C52F EB6B 621E 9F35`, and if so, accept it.
+
+ This fingerprint might update! Check it out [here](https://docs.docker.com/engine/install/fedora/#install-docker-engine).
+
+### Linux postinstall instructions
+
+Docker provides some [instructions](https://docs.docker.com/engine/install/linux-postinstall/) regarding the docker user group.
+
+Create the docker group:
+
+```bash
+sudo groupadd docker
+```
+
+Add your user to the docker group:
+
+```bash
+sudo usermod -aG docker $USER
+```
+
+Log out and log back in so that your group membership is re-evaluated.
+
+*You can also run the following command to activate the changes to groups:*
+
+```bash
+newgrp docker
+```
+
+Check if you can use `docker images` for example, without `sudo` in a new terminal. If not, restart you computer or try again with `newgrp docker`.
+
+## Add user to dialout group
+
+To be able to register data from USB devices, the user needs to be added to the dialout group:
+
+```bash
+sudo usermod -aG dialout $USER
+```
+
+Log out and log back in so that your group membership is re-evaluated.
+
+## Setup the software
+
+### Pull the project docker image
+
+Open a terminal and pull the [project docker image](https://hub.docker.com/r/aaronrpb/force-platform-app):
+
+```bash
+docker pull aaronrpb/force-platform-app
+```
+
+### Run a new docker container
+
+Connect your sensors, check if the `/dev/bus/usb` (and `/dev/ttyUSB*` in case you have Taobotics IMUs) paths exists and create a new container where the software will be running, with:
+
+```bash
+docker run -d --name example_app \
+ --device /dev/bus/usb \
+ --device /dev/ttyUSB0 \
+ --device /dev/ttyUSB1 \
+ -p 8501:8501 \
+ aaronrpb/force-platform-app
+```
+
+!!! note
+ - You can change the name example_app to any name you prefer.
+ - If you have no sensors of USB devices connected, the `/dev/bus/usb` and/or `/dev/ttyUSB*` could be empty, and the docker daemon will throw a `no such file or directory` error.
+ - You can ignore some `--device` flags if you are not using Taobotics IMUs (`/dev/ttyUSB*`).
+
+Check if the container is running, going to [http://localhost:8501/](http://localhost:8501/) and try to connect your sensors.
+
+!!! info "You will need to upload a custom configuration file with proper usb paths."
+
+To stop or escape the software, use:
+
+```bash
+docker stop example_app
+```
+
+## Software usage instructions
+
+Follow these steps to ensure proper sensor connectivity and optimal software functionality.
+
+For more information about the software app features, check out the documentation within the software, at the homepage.
+
+### Start
+
+1. Connect sensors to PC.
+2. Start the docker container using the `docker start ` command in a terminal.
+3. Open the software app url ([http://localhost:8501/](http://localhost:8501/)) or other configured port/url.
+4. Connect your sensors to the app.
+5. Record data, check graphs and download it in `CSV` files.
+
+### Stop
+
+1. Make sure you are not recording data from connected sensors.
+2. Stop the docker container using the `docker stop ` command in a terminal.
+3. Disconnect the sensors.
+
+### Update
+
+You can check new updates from the [DockerHub page](https://hub.docker.com/r/aaronrpb/force-platform-app) or the [GitHub repository](https://github.com/AaronPB/force-platform-app).
+
+!!! danger "If you where using a custom configuration file, you will need to upload it again."
+ **Download your custom configuration file before removing the docker container.**
+
+ The new updated container will always run with default settings and has no custom configuration file in it.
+
+If you want to update the software to newer versions, follow these steps:
+
+1. Pull the latest docker image: `docker pull aaronrpb/force-platform-app`
+2. Remove the previous docker container: `docker container rm `
+3. Create a new container using the `docker run` command again:
+
+```bash
+docker run -d --name example_app \
+ --device /dev/bus/usb \
+ --device /dev/ttyUSB0 \
+ --device /dev/ttyUSB1 \
+ -p 8501:8501 \
+ aaronrpb/force-platform-app
+```
\ No newline at end of file
diff --git a/docs/software/docker_streamlit/setup/project_windows.md b/docs/software/docker_streamlit/setup/project_windows.md
new file mode 100644
index 0000000..439539d
--- /dev/null
+++ b/docs/software/docker_streamlit/setup/project_windows.md
@@ -0,0 +1,253 @@
+# Project setup - Windows
+
+Installation steps for Windows.
+
+!!! abstract "Tested on Windows 11"
+
+It is possible to run the software in Windows, with a few extra steps.
+
+## Install Docker Desktop
+
+!!! warning "Virtualization needs to be enabled"
+
+ Check first if the PC has virtualization enabled.
+
+ 1. Open the `Task Manager`.
+ 2. Go to the performance tab and click on the CPU graph.
+ 3. Check the `Virtualization` option at the bottom-right corner. It needs to be `enabled` or Docker will not run.
+
+ Not enabled? Try [these instructions](https://support.microsoft.com/en-us/windows/enable-virtualization-on-windows-c5578302-6e43-4b4b-a449-8ced115f58e1) from Windows Support.
+
+Download [Docker Desktop](https://www.docker.com/products/docker-desktop/) and follow the [interactive installation](https://docs.docker.com/desktop/setup/install/windows-install/#install-docker-desktop-on-windows).
+
+## Install usbipd
+
+This is needed to attach the USB sensors to the Windows Subsystem for Linux (WSL).
+
+Open a terminal in administrator mode (right click and `run as administrator`) and install the [usbipd software](https://github.com/dorssel/usbipd-win) using the following command:
+
+```bash
+winget install usbipd
+```
+
+Maybe a confirmation window will pop up, follow the instructions and wait until it finishes.
+
+## Setup the software
+
+### Pull the project docker image
+
+Open a new terminal (or use the previous one) and pull the [project docker image](https://hub.docker.com/r/aaronrpb/force-platform-app):
+
+```bash
+docker pull aaronrpb/force-platform-app
+```
+
+### Run a new docker container
+
+Create a new container where the software will be running, with:
+
+```bash
+docker run -d --name example_app \
+ --privileged -p 8501:8501 \
+ aaronrpb/force-platform-app
+```
+
+!!! note
+ - You can change the name example_app to any name you prefer.
+
+ - Currently, it is recommended to use the `--privileged` flag. This is required to allow WSL to recognize the connected sensors. Another workaround could be adding temporal permissions to `/dev/bus/usb/00x/00x` paths with `chmod 666`, but this is not recommended as it gives full access to the device and the permission will be lost when the sensor disconnects.
+
+Check if the container is running, going to [http://localhost:8501/](http://localhost:8501/).
+
+!!! info "You will need to upload a custom configuration file with proper usb paths."
+ **Do not try to connect sensors yet**, it won't work unless you bind them to WSL. This will be the last step.
+
+If the streamlit web-app is showing, stop the container with:
+
+```bash
+docker stop example_app
+```
+
+Or stop it from the Docker Desktop window, going to the Containers tab and clicking the stop icon.
+
+## Attach the USB sensors to WSL
+
+Before starting the docker container, you will need to attach the sensors to WSL.
+Connect them to the PC and follow the steps.
+
+### Identify the sensors
+
+Open a terminal in administrator mode and check the connected usbs with `usbipd`:
+
+```bash
+usbipd list
+```
+
+This will show up something like the following list:
+
+```
+Connected:
+BUSID VID:PID DEVICE STATE
+4-11 0db0:422d Realtek USB2.0 Audio, Dispositivo de entrada USB Not shared
+4-12 0e8d:0616 RZ616 Bluetooth(R) Adapter Not shared
+4-15 1462:7d75 Dispositivo de entrada USB Not shared
+6-1 1532:0084 Razer DeathAdder V2, Dispositivo de entrada USB Not shared
+6-2 1b1c:1b40 Dispositivo de entrada USB Not shared
+7-1 06c2:003b Dispositivo de entrada USB Not shared
+7-2 b58e:9e84 Yeti Stereo Microphone, Dispositivo de entrada USB Not shared
+
+Persisted:
+GUID DEVICE
+
+```
+
+Identify the `BUSID` and the `VIP:PID` from the sensors. This will be used for the bind/attach commands and WSL usb checks.
+
+For example, in the provided list, `BUSID 7-1` corresponds to a PhidgetBridge USB connection with four loadcell sensors.
+
+!!! question "If you have more than one USB connection, repeat the following steps for all sensors."
+
+### Bind the sensors
+
+All the sensors we want to attach have to be binded first, with the `--busid` flag:
+
+```bash
+usbipd bind --busid 7-1
+```
+
+Now if we check the list again with `usbipd list`, bus `7-1` will be `Shared` at the `STATE` column:
+
+``` hl_lines="8"
+Connected:
+BUSID VID:PID DEVICE STATE
+4-11 0db0:422d Realtek USB2.0 Audio, Dispositivo de entrada USB Not shared
+4-12 0e8d:0616 RZ616 Bluetooth(R) Adapter Not shared
+4-15 1462:7d75 Dispositivo de entrada USB Not shared
+6-1 1532:0084 Razer DeathAdder V2, Dispositivo de entrada USB Not shared
+6-2 1b1c:1b40 Dispositivo de entrada USB Not shared
+7-1 06c2:003b Dispositivo de entrada USB Shared
+7-2 b58e:9e84 Yeti Stereo Microphone, Dispositivo de entrada USB Not shared
+
+Persisted:
+GUID DEVICE
+
+```
+
+### Attach the binded sensors
+
+Once the sensors are with the `Shared` state, attach them to WSL with:
+
+```bash
+usbipd attach --wsl --busid 7-1
+```
+
+This will trigger the Windows USB unplug sound and also show some information in the command line from `usbipd`:
+
+```
+usbipd: info: Using WSL distribution 'docker-desktop' to attach; the device will be available in all WSL 2 distributions.
+usbipd: info: Detected networking mode 'nat'.
+usbipd: info: Using IP address 172.28.48.1 to reach the host.
+usbipd: info: Firewall check not possible with this distribution (no bash, or wrong version of bash).
+
+```
+
+### Check WSL USB lists
+
+From the same terminal, enter to WSL (Docker Desktop must be open):
+
+```bash
+wsl
+```
+
+Check the connected usbs with `lsusb`:
+
+```bash
+lsusb
+```
+
+Something like the following will show up. Identify the connected sensors by their `ID` (those are the `VIP:PID` tags shown with `usbipd list`).
+
+``` hl_lines="2"
+Bus 001 Device 001: ID 1d6b:0002
+Bus 001 Device 002: ID 06c2:003b
+Bus 002 Device 001: ID 1d6b:0003
+```
+
+In this example we can check that the PhidgetBridge is correctly attached.
+The `VIP:PID` was `06c2:003b`, this corresponds with `Bus 001 Device 002`.
+
+!!! success "If you see all your sensors listed, they are correctly attached!"
+
+!!! warning "Are you connecting Taobotics IMUs?"
+ To connect Taobotics IMUs you will need to do an extra step inside WSL. Check first if WSL has automatically assigned your IMUs to `ttyUSB` ports:
+
+ ```bash
+ ls /dev/ttyUSB*
+ ```
+
+ If it shows `No such file or directory`, your IMU drivers are not being recognized. You will need to load the kernel module `cp210x` for USB to UART Bridge usbs. Do not be scared, it is only one command inside WSL:
+
+ ```bash
+ modprobe cp210x
+ ```
+
+ Now if you check again with `ls /dev/ttyUSB*` you will see the recognized IMUs!
+
+To leave the WSL interface, use the `exit` command:
+
+```bash
+exit
+```
+
+### Detach and unbind sensors
+
+It is not necessary to detach and unbind every time you want to disconnect the USB sensors from WSL.
+This is only needed if you want to release the device from WSL so that it is no longer in use, and Windows can take control of it again.
+
+```bash
+usbipd detach --busid 7-1
+usbipd unbind --busid 7-1
+```
+
+## Software usage instructions
+
+Follow these steps to ensure proper sensor connectivity and optimal software functionality.
+
+For more information about the software app features, check out the documentation within the software, at the homepage.
+
+### Start
+
+1. Open Docker Desktop.
+2. Connect sensors to PC.
+3. Check in they are attached to WSL.
+4. Start the docker container from the Containers tab on Docker Desktop, or use the `docker start ` command in a terminal.
+5. Open the software app url ([http://localhost:8501/](http://localhost:8501/)) or other configured port/url.
+6. Connect your sensors to the app.
+7. Record data, check graphs and download it in `CSV` files.
+
+### Stop
+
+1. Make sure you are not recording data from connected sensors.
+2. Stop the docker container from the Containers tab on Docker Desktop, or use the `docker stop ` command in a terminal.
+3. Disconnect the sensors or detach/unbind them (this is optional).
+
+### Update
+
+You can check new updates from the [DockerHub page](https://hub.docker.com/r/aaronrpb/force-platform-app) or the [GitHub repository](https://github.com/AaronPB/force-platform-app).
+
+!!! danger "If you where using a custom configuration file, you will need to upload it again."
+ **Download your custom configuration file before removing the docker container.**
+
+ The new updated container will always run with default settings and has no custom configuration file in it.
+
+If you want to update the software to newer versions, follow these steps:
+
+1. Open Docker Desktop and go to the Images tab. Click in the three vertical dots on the `aaronrpb/force-platform-app` actions column and click on the `Pull` option.
+2. When updated, go the the Containers tab and remove the app container.
+3. Create a new container opening a terminal and running the following command:
+
+```bash
+docker run -d --name example_app \
+ --privileged -p 8501:8501 \
+ aaronrpb/force-platform-app
+```
\ No newline at end of file
diff --git a/docs/software/legacy_qt/index.md b/docs/software/legacy_qt/index.md
new file mode 100644
index 0000000..a5bbfbb
--- /dev/null
+++ b/docs/software/legacy_qt/index.md
@@ -0,0 +1,30 @@
+# The original software
+
+
+
+The original developed software using Python and QT framework version 6.0 with PySide6.
+
+This software was developed for internal use, but it is now available in case others find it useful.
+
+!!! note "Please note that some features may be unstable, and setup may require additional effort"
+
+Sensor data is recorded in a synchronous loop of `QT.Events`.
+When the test finishes, the data is filtered and calibration parameters are applied to get the final values.
+
+The software includes also a single sensor calibration feature, using least squares method. The new calibration parameters are saved automatically into de configuration file.
+
+## Sensor support
+
+- Phidget-Bridge compatible load sensors.
+- Phidget encoders.
+- Taobotics IMU sensors.
+- USB webcams for video recording with opencv (BETA).
+
+## Features
+
+- General settings.
+- Data recording.
+- Tare function.
+- Single sensor and full force platform calibration sections.
+- Filter and data interval settings.
+- Graphical data visualization and save options into different formats.
\ No newline at end of file
diff --git a/docs/setup/config_file.md b/docs/software/legacy_qt/setup/config_file.md
similarity index 71%
rename from docs/setup/config_file.md
rename to docs/software/legacy_qt/setup/config_file.md
index d0d8302..6f5cb8e 100644
--- a/docs/setup/config_file.md
+++ b/docs/software/legacy_qt/setup/config_file.md
@@ -1,21 +1,23 @@
-[:house: `Back to Home`](../home.md)
-
# Config File
-Config main content:
-- [Settings section](#settings-section)
-- [Sensor groups section](#sensor-groups-section)
- - [Platform groups](#platform-groups)
-- [Calibration sensors section](#calibration-sensors-section)
-- [Sensors section](#sensors-section)
- - [Loadcell sensor](#loadcell-sensor)
- - [Encoder sensor](#encoder-sensor)
- - [IMU sensor](#imu-sensor)
-
-
## Settings section
-https://github.com/AaronPB/force_platform/blob/55d561fa79855c7706b47aab6820b150fe71fe82/config.yaml#L1-L14
+```yaml
+settings:
+ custom_config_path: null
+ test:
+ name: Name
+ folder_path: /tests/
+ results:
+ save_raw: true
+ save_calib: true
+ recording:
+ data_interval_ms: 10
+ tare_data_amount: 300
+ calibration:
+ data_interval_ms: 10
+ data_amount: 300
+```
Information of all the keys involved in this config section:
@@ -35,12 +37,31 @@ Information of all the keys involved in this config section:
## Sensor groups section
Define sensor combinations, even from different types!
-https://github.com/AaronPB/force_platform/blob/55d561fa79855c7706b47aab6820b150fe71fe82/config.yaml#L15-L32
-
-> [!IMPORTANT]
-> All listed sensors needs to be configured in the [`sensors` config section](#sensors-section).
->
-> Using the same sensors in multiple sensor groups is not recommended.
+```yaml
+sensor_groups:
+ platform_1:
+ name: Platform 1
+ type: GROUP_PLATFORM
+ read: true
+ sensor_list:
+ - p1_z1
+ - p1_z2
+ - p1_z3
+ - p1_z4
+ - p1_x1
+ - p1_x2
+ - p1_x3
+ - p1_x4
+ - p1_y1
+ - p1_y2
+ - p1_y3
+ - p1_y4
+```
+
+!!! warning
+ All listed sensors needs to be configured in the [`sensors` config section](#sensors-section).
+
+ Using the same sensors in multiple sensor groups is not recommended.
Information of all the keys involved in this config section:
@@ -56,22 +77,27 @@ Information of all the keys involved in this config section:
Configure a platform with the `GROUP_PLATFORM` type. This group type only expects `SENSOR_LOADCELL` type sensors, with a maximum of 12 (4 sensors on each axis).
To obtain platform graphs such as **total forces** or **COP values**; sensors must have the following strings included in their names:
+
- The 4 X-axis sensors: `_X_n`.
- The 4 Y-axis sensors: `_Y_n`.
- The 4 Z-axis sensors: `_Z_n`.
Being $n = \{1, 2, 3, 4\}$ depending on the sensor location in the platform:
-
+
## Calibration sensors section
Declare here a valid reference sensor for each calibration process.
-https://github.com/AaronPB/force_platform/blob/55d561fa79855c7706b47aab6820b150fe71fe82/config.yaml#L65-L67
+```yaml
+sensors_calibration:
+ phidget_loadcell_reference: s_type
+ platform_reference: triaxial
+```
-> [!IMPORTANT]
-> All sensors needs to be configured in the [`sensors` config section](#sensors-section) and **match the required sensor type**.
+!!! warning
+ All sensors needs to be configured in the [`sensors` config section](#sensors-section) and **match the required sensor type**.
Information of all the keys involved in this config section:
@@ -84,13 +110,30 @@ Information of all the keys involved in this config section:
## Sensors section
This section contains all the sensors that will be used in the previous sections.
-https://github.com/AaronPB/force_platform/blob/55d561fa79855c7706b47aab6820b150fe71fe82/config.yaml#L68-L69
+```yaml
+sensors:
+ p1_z1:
+```
Depending on the sensor type, a specific set of parameters is required. Below are the available parameters for each sensor type.
### Loadcell sensor
-https://github.com/AaronPB/force_platform/blob/55d561fa79855c7706b47aab6820b150fe71fe82/config.yaml#L69-L81
+```yaml
+p1_z1:
+ name: P1_LoadCell_Z_1
+ type: SENSOR_LOADCELL
+ read: true
+ connection:
+ channel: 0
+ serial: 583477
+ properties:
+ serial_number: Y2131167
+ max_weight: 150kg
+ calibration:
+ slope: 148893.5596545
+ intercept: -0.6307595051800341
+```
Required keys information:
@@ -108,7 +151,22 @@ Required keys information:
### Encoder sensor
-https://github.com/AaronPB/force_platform/blob/55d561fa79855c7706b47aab6820b150fe71fe82/config.yaml#L382-L395
+```yaml
+encoder_1:
+ name: Encoder_Z_1
+ type: SENSOR_ENCODER
+ read: true
+ connection:
+ channel: 0
+ serial: 641800
+ initial_position: 0
+ properties:
+ serial_number: AAAA
+ max_length: 2500mm
+ calibration:
+ slope: 0.01875
+ intercept: 0.0
+```
Required keys information:
@@ -127,7 +185,16 @@ Required keys information:
### IMU sensor
-https://github.com/AaronPB/force_platform/blob/55d561fa79855c7706b47aab6820b150fe71fe82/config.yaml#L410-L417
+```yaml
+imu_1:
+ name: IMU_Leg_Right
+ type: SENSOR_IMU
+ read: true
+ connection:
+ serial: /dev/serial/by-path/pci-0000:00:14.0-usb-0:1.1.4.3:1.0-port0
+ properties:
+ tag: IMU_1
+```
Required keys information:
@@ -139,7 +206,3 @@ Required keys information:
| `read` | BOOL | Enable or disable sensor data recording. Can be modified in GUI. |
| `connection.serial` | STRING | Absolute USB path. Use `ll /dev/serial/by-path/`. |
| `properties` | - | (Could be empty) Configuration section where you can provide more information. |
-
----
-
-[:house: `Back to Home`](../home.md)
\ No newline at end of file
diff --git a/docs/software/legacy_qt/setup/project.md b/docs/software/legacy_qt/setup/project.md
new file mode 100644
index 0000000..8bb2018
--- /dev/null
+++ b/docs/software/legacy_qt/setup/project.md
@@ -0,0 +1,80 @@
+# Project setup
+
+The project has been tested in `Windows 11` without IMUs, and in `Ubuntu 22.04 LTS` with Taobotics IMUs.
+
+The installation process will be explained for **Linux** as the current project version includes Taobotics IMUs support and Windows does not manage its drivers properly.
+
+!!! tip "Try the dockerized version tested in Windows 11 and Linux distros Ubuntu and Fedora"
+ A simplified docker version is available and fully compatible with all the sensors, including also Taobotics IMUs in Windows!
+
+ [:fontawesome-solid-download: Detailed docker setup steps for Windows 11](../../docker_streamlit/setup/project_windows.md){ .md-button .md-button--secondary }
+
+## Dependencies
+
+- **Phidget22**. For Phidget load cells and encoders.
+- **MRPT**. To use the `pymrpt` library for the Taobotics IMUs.
+- **UV**. To manage the python project. This is optional but highly recommended.
+
+## Installation procedure
+
+### 1. Clone the repository
+
+Clone the `force_platform` repository.
+
+Clone using the web URL:
+```bash
+git clone https://github.com/AaronPB/force_platform.git
+```
+
+Clone with SSH:
+```bash
+git clone git@github.com:AaronPB/force_platform.git
+```
+
+### 2. Install sensor dependencies
+
+#### Phidget dependency
+
+```bash
+curl -fsSL https://www.phidgets.com/downloads/setup_linux | sudo -E bash - &&\
+sudo apt-get install -y libphidget22
+```
+
+> Phidget documentation of the [Linux Installer](https://www.phidgets.com/docs/OS_-_Linux#Quick_Downloads).
+
+#### MRPT dependency
+
+```bash
+sudo add-apt-repository ppa:joseluisblancoc/mrpt &&\
+sudo apt install libmrpt-dev mrpt-apps &&\
+sudo apt install python3-pymrpt
+```
+
+> For more information, refer to the [MRPT Documentation](https://docs.mrpt.org/reference/latest/download-mrpt.html#debian-ubuntu-ppa).
+
+### 3. Install UV and setup the project requirements
+
+```bash
+curl -LsSf https://astral.sh/uv/install.sh | sh
+```
+
+Install the project requirements:
+
+```bash
+cd force_platform/ &&\
+uv venv &&\
+uv pip install -r uv.lock
+```
+
+!!! warning
+ MRPT cannot be installed by pip. As a temporary solution, set `include-system-site-packages = true` in your `.venv/pyvenv.cfg` file.
+
+## Run the project
+
+When all dependencies are installed, try to run the `main.py` file in the `force_platform` repository from a terminal using uv:
+
+```bash
+uv run python main.py
+```
+
+If the main GUI shows up, it is done!
diff --git a/docs/setup/sensors.md b/docs/software/legacy_qt/setup/sensors.md
similarity index 94%
rename from docs/setup/sensors.md
rename to docs/software/legacy_qt/setup/sensors.md
index db7543b..dd4d18e 100644
--- a/docs/setup/sensors.md
+++ b/docs/software/legacy_qt/setup/sensors.md
@@ -1,5 +1,3 @@
-[:house: `Back to Home`](../home.md)
-
# Compatible sensors
In this section you will find a list of all the sensors compatible with the software and used APIs.
@@ -28,7 +26,3 @@ For more information on the structure of the configuration file, check the [conf
- [Phidegt22 API](https://www.phidgets.com/?view=api)
- [Taobotics IMU (MRPT docs)](https://docs.mrpt.org/reference/latest/class_mrpt_hwdrivers_CTaoboticsIMU.html#doxid-classmrpt-1-1hwdrivers-1-1-c-taobotics-i-m-u)
-
----
-
-[:house: `Back to Home`](../home.md)
\ No newline at end of file
diff --git a/docs/features/calibration_test.md b/docs/software/legacy_qt/usage/calibration_test.md
similarity index 85%
rename from docs/features/calibration_test.md
rename to docs/software/legacy_qt/usage/calibration_test.md
index eb2a72b..f92eefb 100644
--- a/docs/features/calibration_test.md
+++ b/docs/software/legacy_qt/usage/calibration_test.md
@@ -1,5 +1,3 @@
-[:house: `Back to Home`](../home.md)
-
# Calibration process
Calibration process are only available for **platform sensors** defined in the [`sensor_groups` config section](../setup/config_file.md#sensor-groups-section) .
@@ -8,12 +6,12 @@ To access the calibration menu, click on the Calibrate sensors button
## Calibration menu
-
+
At the left side, the menu loads all compatible sensor groups defined in `config.yaml`, but only the connected ones will be shown. You can connect the sensors previously from the main menu.
-> [!TIP]
-> Need more information about how to connect sensors? Check the [sensor connection](general_test.md#sensor-connection) section of the general test procedure.
+!!! tip
+ Need more information about how to connect sensors? Check the [sensor connection](general_test.md#sensor-connection) section of the general test procedure.
In order to preform a calibration test, click the enabled button of the connected sensor.
@@ -21,9 +19,10 @@ In order to preform a calibration test, click the enabled button of the connecte
The right part of the calibration menu will update with the sensor information at the top when clicking an enabled sensor button, as shown here.
-
+
The window is structured in the following sections:
+
- Sensor information and general test buttons.
- A table in which all measurements will be recorded and the most relevant data (such as the mean and variance of the data sample) are displayed.
- An horizontal set of buttons to manage the measurements.
@@ -33,13 +32,14 @@ The window is structured in the following sections:
Calibration is performed by applying known values of weight (or other physical quantity) to the sensor and measuring its output. The test is performed by applying different values in order to establish a linear relationship and obtain a regression line.
The calibration program allows the known value to be recorded in two ways:
+
- **Manually**: when the calibration value is known.
- **With a reference sensor**: when the calibration value is unknown or higher accuracy is required. In this case it is necessary to use a calibrated sensor.
The following sections shows how to preform each action.
-> [!NOTE]
-> If a measurement goes wrong, you can remove it selecting the correspondent row from the measurement table and click the Remove selected row button.
+!!! note
+ If a measurement goes wrong, you can remove it selecting the correspondent row from the measurement table and click the Remove selected row button.
### Calibrate with manual inputs
@@ -57,9 +57,10 @@ To calibrate using the reference sensor, you must first declare it in the [`cali
Once defined, run the program, connect the sensors to be calibrated and access the calibration window again.
-The program will try to connect the reference sensor when clicking an available sensor. If no connection is established, a warning will appear on console and the Measure with sensor button will not be available.
+The program will try to connect the reference sensor when clicking an available sensor. If no connection is established, a warning will appear on console and the Measure with sensor button will not be available.
If the button is active, then the sensor is correctly connected. The steps to proceed in this case are as follows:
+
1. Apply the known magnitude to the sensor.
2. Click on the Measure with sensor button and wait until the buttons are re-enabled.
3. The measurement will appear in the table when it is done.
@@ -68,10 +69,10 @@ If the button is active, then the sensor is correctly connected. The steps to pr
### Generate the calibration results
Once all measurements have been taken, linear regression can be performed by clicking on the Make linear regression button.
-> [!IMPORTANT]
-> A minimum of two measurements must be taken for the Make linear regression button to be available.
+!!! info
+ A minimum of two measurements must be taken for the Make linear regression button to be available.
-
+
This will generate a graph with the regression line obtained (in red) and the measurements taken (as blue dots). The values of the line are displayed above the graph.
@@ -86,7 +87,3 @@ If at any time you wish to cancel the calibration test, click the Clear cal
It is possible to modify the data reading time and frequency in the [`settings` section](../setup/config_file.md#settings-section) of the `config.yaml` file.
It is also possible to change the reference sensor in the [`calibration_sensors` section](../setup/config_file.md#calibration-sensors-section) of the same file.
-
----
-
-[:house: `Back to Home`](../home.md)
\ No newline at end of file
diff --git a/docs/features/general_test.md b/docs/software/legacy_qt/usage/general_test.md
similarity index 78%
rename from docs/features/general_test.md
rename to docs/software/legacy_qt/usage/general_test.md
index 967f89f..00332be 100644
--- a/docs/features/general_test.md
+++ b/docs/software/legacy_qt/usage/general_test.md
@@ -1,14 +1,13 @@
-[:house: `Back to Home`](../home.md)
-
# General test procedure
The main objective of the program is to record data from the connected sensors in a synchronised manner and to generate a file in `.csv` format at the end of each trial.
When running the `main.py` file of the program, a window like this will open:
-
+
The interface is organised in three main sections which will be detailed below:
+
- At the left side:
- The control panel column.
- At the right:
@@ -20,13 +19,15 @@ The interface is organised in three main sections which will be detailed below:
| Control panel disabled | Control panel enabled |
| :---: | :---: |
-|  | |
+|  | |
When running the program, all the buttons on the control panel are disabled until the following requirements are satisfied:
+
- There is a valid folder to save the test files. See [Folder and file name of the test](#folder-and-file-name-of-the-test).
- There is at least one sensor available. See [Sensor connection](#folder-and-file-name-of-the-test).
The layer is divided into three parts:
+
- **Status information box**: informs if all requirements are met.
- Button box:
- **Start test**: clear all previous data and start a new test with the available sensors.
@@ -37,7 +38,7 @@ The layer is divided into three parts:
## Settings and sensor information
-
+
This is the default tab where you can configure the following options listed below.
@@ -49,12 +50,12 @@ If you want to load another configuration file, click on the Select config
Once selected, if it is in the correct format, the window will be updated with the new sensor information.
-
+
The path to the custom configuration will also be saved in the default configuration file (`config.yaml`) to be loaded automatically each time the program is launched.
-> [!NOTE]
-> This can be cancelled by loading again the default `config.yaml` file or deleting the custom configuration path manually in the [`settings` config section](../setup/config_file.md#settings-section).
+!!! note
+ This can be cancelled by loading again the default `config.yaml` file or deleting the custom configuration path manually in the [`settings` config section](../setup/config_file.md#settings-section).
### Folder and file name of the test
@@ -68,14 +69,14 @@ This section shows all sensor groups configured in the [`sensor_groups` config s
You can select or deselect sensor groups connections by clicking on their names. It is also possible to enable/disable individual sensors from a sensor group via the `settings` button next to it.
-> [!NOTE]
-> When you click the `settings` button, an additional window will show up with the sensor information. If you want to continue in the main window, close the pop-up window.
->
-> Any modifications will be saved.
+!!! note
+ When you click the `settings` button, an additional window will show up with the sensor information. If you want to continue in the main window, close the pop-up window.
+
+ Any modifications will be saved.
You can check the selection status looking at the name background color:
-
+
| Background color | Description |
| :---: | :--- |
@@ -86,7 +87,7 @@ Once the sensors are selected, press the Connect sensors button. Depe
Once a connection is established (or not) with the indicated sensors, the connection background colors will be updated with the status of each sensor as follows:
-
+
| Background color | Description for sensor groups | Description for individual sensors |
| :---: | :--- | :--- |
@@ -101,14 +102,14 @@ If at least one sensor is connected and the requirements indicated on the contro
When a test has finished, this section will update with the available data recorded. Here you can modify data limits and the butterworth filter parameters.
-
+
You can change the preview graph by clicking other sensor name in the preview selector.
To apply any modifications, click the Apply changes button. If you want to save the data again with those modifications, click the Save button. To undo range modifications, click on Reset .
-> [!NOTE]
-> The Save button only apply data range modifications. It does not save filtered data.
+!!! note
+ The Save button only apply data range modifications. It does not save filtered data.
All applied modifications will update available sensor graphs. Checkout the following section!
@@ -119,7 +120,7 @@ There are two tabs available:
- **Sensor graphs** - To see individual sensor data.
- **Platform graphs** - To see specific platform data: total forces and COP data.
-All the graph processing is done by the [`DataManager`](../../src/managers/dataManager.py) class.
+All the graph processing is done by the [`DataManager`](https://github.com/AaronPB/force_platform/blob/develop/src/managers/dataManager.py) class.
## Sensor graphs
@@ -127,7 +128,7 @@ Simply click a sensor group at the top selector and an available sensor. The gra
You can use the options above to save the generated graph, edit, zoom, etc.
-
+
## Platform graphs
@@ -135,11 +136,7 @@ As in the previous section, click a sensor group at the top selector and an avai
Use the options above to save the generated graph, edit, zoom, etc.
-> [!IMPORTANT]
-> This graphs needs special sensor group requirements in order to be available. Check [platform groups configuration](../setup/config_file.md#platform-groups).
-
-
-
----
+!!! info
+ This graphs needs special sensor group requirements in order to be available. Check [platform groups configuration](../setup/config_file.md#platform-groups).
-[:house: `Back to Home`](../home.md)
+
diff --git a/mkdocs.yml b/mkdocs.yml
new file mode 100644
index 0000000..bf4f9e3
--- /dev/null
+++ b/mkdocs.yml
@@ -0,0 +1,110 @@
+site_name: Force Platform Reader
+site_url: https://aaronpb.github.io/force_platform/
+site_author: Aarón Poyatos
+site_description: >-
+ The Force Platform Reader documentation and general project information
+repo_url: https://github.com/AaronPB/force_platform
+repo_name: AaronPB/force_platform
+copyright: >
+ Copyright © 2023-2025 AaronPB –
+ Change cookie settings
+nav:
+ - Home: index.md
+ - Legacy version:
+ - software/legacy_qt/index.md
+ - Setup:
+ - Installation: software/legacy_qt/setup/project.md
+ - Configuration: software/legacy_qt/setup/config_file.md
+ - Sensors: software/legacy_qt/setup/sensors.md
+ - Usage:
+ - Make a recording: software/legacy_qt/usage/general_test.md
+ - Calibrate sensors: software/legacy_qt/usage/calibration_test.md
+ - Docker version:
+ - software/docker_streamlit/index.md
+ - Setup:
+ - Installation - Linux: software/docker_streamlit/setup/project_linux.md
+ - Installation - Windows: software/docker_streamlit/setup/project_windows.md
+ - Force Platform:
+ - platform/index.md
+ - Design: platform/design.md
+ - Research: platform/research.md
+markdown_extensions:
+ - admonition
+ - pymdownx.details
+ - pymdownx.superfences
+ - pymdownx.tabbed:
+ alternate_style: true
+ - tables
+ - attr_list
+ - md_in_html
+ - pymdownx.critic
+ - pymdownx.caret
+ - pymdownx.keys
+ - pymdownx.mark
+ - pymdownx.tilde
+ - pymdownx.emoji:
+ emoji_index: !!python/name:material.extensions.emoji.twemoji
+ emoji_generator: !!python/name:material.extensions.emoji.to_svg
+ - pymdownx.blocks.html
+ - def_list
+ - pymdownx.tasklist:
+ custom_checkbox: true
+ - pymdownx.arithmatex:
+ generic: true
+ - pymdownx.superfences:
+ custom_fences:
+ - name: mermaid
+ class: mermaid
+ format: !!python/name:pymdownx.superfences.fence_code_format
+theme:
+ name: material
+ logo: assets/project_logo.svg
+ favicon: assets/project_logo.svg
+ features:
+ - navigation.tabs
+ - navigation.expand
+ - navigation.indexes
+ - navigation.top
+ - toc.follow
+ - content.code.copy
+ palette:
+ - media: "(prefers-color-scheme)"
+ toggle:
+ icon: material/brightness-auto
+ name: Switch to light mode
+ primary: deep purple
+ - media: "(prefers-color-scheme: light)"
+ scheme: default
+ toggle:
+ icon: material/brightness-7
+ name: Switch to dark mode
+ primary: deep purple
+ - media: "(prefers-color-scheme: dark)"
+ scheme: slate
+ toggle:
+ icon: material/brightness-4
+ name: Switch to system preference
+ primary: deep purple
+ icon:
+ repo: fontawesome/brands/github
+extra:
+ social:
+ - icon: fontawesome/brands/github
+ link: https://github.com/AaronPB
+ name: GitHub profile
+ - icon: fontawesome/brands/linkedin
+ link: https://es.linkedin.com/in/aaron-raul-poyatos-bakker
+ name: LinkedIn profile
+ consent:
+ title: Cookie consent
+ description: >-
+ We use cookies to recognize your repeated visits and preferences, as well
+ as to measure the effectiveness of our documentation and whether users
+ find what they're searching for. With your consent, you're helping us to
+ make our documentation better.
+ actions:
+ - accept
+ - manage
+extra_javascript:
+ - javascripts/mathjax.js
+ - https://unpkg.com/mathjax@3/es5/tex-mml-chtml.js
\ No newline at end of file
diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 0000000..1d0d5f4
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,37 @@
+[project]
+name = "force-platform"
+version = "0.1.0"
+authors = [{ name = "AaronPB", email = "aaron.poyatos@ual.es" }]
+description = "Force platform sensor reading software"
+readme = "README.md"
+license = { file = "LICENSE" }
+requires-python = ">=3.10"
+dependencies = [
+ "loguru>=0.7.3",
+ "matplotlib>=3.10.3",
+ "numpy>=2.2.5",
+ "opencv-python>=4.11.0.86",
+ "pandas>=2.2.3",
+ "phidget22>=1.22.20250422",
+ "pillow>=11.2.1",
+ "pyside6>=6.9.0",
+ "pyyaml>=6.0.2",
+ "scikit-learn>=1.6.1",
+ "scipy>=1.15.3",
+]
+
+[dependency-groups]
+dev = [
+ "black>=25.1.0",
+ "coverage>=7.8.0",
+ "pytest>=8.3.5",
+ "pytest-cov>=6.1.1",
+]
+
+[[project.urls]]
+name = "Homepage"
+url = "https://github.com/AaronPB/force_platform"
+
+[[project.urls]]
+name = "Documentation"
+url = "https://aaronpb.github.io/force_platform"
diff --git a/requirements-dev.txt b/requirements-dev.txt
deleted file mode 100644
index 260bb8d..0000000
--- a/requirements-dev.txt
+++ /dev/null
@@ -1,37 +0,0 @@
-black==24.4.2
-contourpy==1.2.0
-coverage==7.3.2
-cycler==0.12.1
-exceptiongroup==1.1.3
-fonttools==4.44.0
-iniconfig==2.0.0
-joblib==1.3.2
-kiwisolver==1.4.5
-loguru==0.7.2
-matplotlib==3.8.1
-mypy-extensions==1.0.0
-numpy==1.26.1
-opencv-python==4.9.0.80
-packaging==23.2
-pandas==2.1.3
-pathspec==0.12.1
-Phidget22==1.17.20231004
-Pillow==10.1.0
-pluggy==1.3.0
-pyparsing==3.1.1
-PySide6==6.6.0
-PySide6-Addons==6.6.0
-PySide6-Essentials==6.6.0
-pytest==7.4.3
-pytest-cov==4.1.0
-python-dateutil==2.8.2
-pytz==2023.3.post1
-PyYAML==6.0.1
-scikit-learn==1.3.2
-scipy==1.11.3
-shiboken6==6.6.0
-six==1.16.0
-threadpoolctl==3.2.0
-tomli==2.0.1
-typing_extensions==4.11.0
-tzdata==2023.3
diff --git a/requirements.txt b/requirements.txt
deleted file mode 100644
index 72dbfb0..0000000
--- a/requirements.txt
+++ /dev/null
@@ -1,26 +0,0 @@
-contourpy==1.2.0
-cycler==0.12.1
-fonttools==4.44.0
-joblib==1.3.2
-kiwisolver==1.4.5
-loguru==0.7.2
-matplotlib==3.8.1
-numpy==1.26.1
-opencv-python==4.9.0.80
-packaging==23.2
-pandas==2.1.3
-Phidget22==1.17.20231004
-Pillow==10.1.0
-pyparsing==3.1.1
-PySide6==6.6.0
-PySide6-Addons==6.6.0
-PySide6-Essentials==6.6.0
-python-dateutil==2.8.2
-pytz==2023.3.post1
-PyYAML==6.0.1
-scikit-learn==1.3.2
-scipy==1.11.3
-shiboken6==6.6.0
-six==1.16.0
-threadpoolctl==3.2.0
-tzdata==2023.3
diff --git a/src/managers/calibrationManager.py b/src/managers/calibrationManager.py
index 5b1effd..0bc57a5 100644
--- a/src/managers/calibrationManager.py
+++ b/src/managers/calibrationManager.py
@@ -404,7 +404,7 @@ def getResults(self) -> tuple[pd.DataFrame, pd.DataFrame]:
-mean_values.at[i, self.df_triaxial_cols_mean[0]] * force_ratio_x,
mean_values.at[i, self.df_triaxial_cols_mean[2]] * force_ratio_z,
]
- )
+ ).reshape(3, 1)
# Transform force to platform center (fM)
delta_x = distance_values.at[i, self.df_distance_cols[0]]
delta_y = distance_values.at[i, self.df_distance_cols[1]]
@@ -416,7 +416,7 @@ def getResults(self) -> tuple[pd.DataFrame, pd.DataFrame]:
# Define platform sensor values matrix
vfM = np.array(
[mean_values.at[i, col] for col in self.df_platform_cols_mean]
- )
+ ).reshape(12, 1)
# Build A matrix
ZfM = np.kron(np.eye(6), vfM.T)
# Concatenate M matrixes into general matrixes.
diff --git a/src/managers/dataManager.py b/src/managers/dataManager.py
index d99ac9d..71034aa 100644
--- a/src/managers/dataManager.py
+++ b/src/managers/dataManager.py
@@ -143,16 +143,16 @@ def getGroupPlotWidget(
if plot_type == PlotTypes.GROUP_PLATFORM_COP:
plotter = PlotPlatformCOPWidget()
# Check shapes
- if df_fx.shape[1] != 4:
+ if df_fx.shape[1] != 2 and df_fy.shape[1] != 4:
logger.error(
"Could not build COP plot!"
- + f"Need 4 X axis sensors, only {df_fx.shape[1]} provided."
+ + f"Need 2 or 4 X axis sensors, only {df_fx.shape[1]} provided."
)
return plotter
- if df_fy.shape[1] != 4:
+ if df_fy.shape[1] != 2 and df_fy.shape[1] != 4:
logger.error(
"Could not build COP plot!"
- + f"Need 4 Y axis sensors, only {df_fy.shape[1]} provided."
+ + f"Need 2 or 4 Y axis sensors, only {df_fy.shape[1]} provided."
)
return plotter
if df_fz.shape[1] != 4:
@@ -337,9 +337,9 @@ def getPlatformCOP(
self, df_fx: pd.DataFrame, df_fy: pd.DataFrame, df_fz: pd.DataFrame
) -> tuple[pd.Series, pd.Series]:
# Platform dimensions
- lx = 508 # mm
- ly = 308 # mm
- h = 20 # mm
+ lx = 506 # mm
+ ly = 306 # mm
+ h = 50.59 # mm
# Get sum forces
fx = df_fx.sum(axis=1)
fy = df_fy.sum(axis=1)
@@ -354,20 +354,22 @@ def getPlatformCOP(
+ df_fz.iloc[:, 2]
+ df_fz.iloc[:, 3]
)
+ + h * fy
)
my = (
lx
/ 2
* (
- -df_fz.iloc[:, 0]
- + df_fz.iloc[:, 1]
- + df_fz.iloc[:, 2]
- - df_fz.iloc[:, 3]
+ df_fz.iloc[:, 0]
+ - df_fz.iloc[:, 1]
+ - df_fz.iloc[:, 2]
+ + df_fz.iloc[:, 3]
)
+ - h * fx
)
# Get COP
- cop_x = (-h * fx - my) / fz
- cop_y = (-h * fy + mx) / fz
+ cop_x = -my / fz
+ cop_y = mx / fz
cop_x = cop_x - np.mean(cop_x)
cop_y = cop_y - np.mean(cop_y)
return [cop_x, cop_y]
diff --git a/src/qtUIs/widgets/mainWidgets.py b/src/qtUIs/widgets/mainWidgets.py
index 4e46196..2db04d6 100644
--- a/src/qtUIs/widgets/mainWidgets.py
+++ b/src/qtUIs/widgets/mainWidgets.py
@@ -396,7 +396,7 @@ def updateSelectorLayout(self, sensor_group: SensorGroup) -> None:
cop_widget = self.buildOptionPanel(
"Platform COP", PlotTypes.GROUP_PLATFORM_COP, sensor_list, False
)
- if len(sensor_list) == 12:
+ if len(sensor_list) == 12 or len(sensor_list) == 8:
cop_widget = self.buildOptionPanel(
"Platform COP", PlotTypes.GROUP_PLATFORM_COP, sensor_list
)
diff --git a/uv.lock b/uv.lock
new file mode 100644
index 0000000..e4dd361
--- /dev/null
+++ b/uv.lock
@@ -0,0 +1,1091 @@
+version = 1
+revision = 2
+requires-python = ">=3.10"
+resolution-markers = [
+ "python_full_version >= '3.12' and sys_platform == 'darwin'",
+ "python_full_version >= '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+ "(python_full_version >= '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version >= '3.12' and sys_platform != 'darwin' and sys_platform != 'linux')",
+ "python_full_version == '3.11.*' and sys_platform == 'darwin'",
+ "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+ "(python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version == '3.11.*' and sys_platform != 'darwin' and sys_platform != 'linux')",
+ "python_full_version < '3.11' and sys_platform == 'darwin'",
+ "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+ "(python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version < '3.11' and sys_platform != 'darwin' and sys_platform != 'linux')",
+]
+
+[[package]]
+name = "black"
+version = "25.1.0"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+ { name = "click" },
+ { name = "mypy-extensions" },
+ { name = "packaging" },
+ { name = "pathspec" },
+ { name = "platformdirs" },
+ { name = "tomli", marker = "python_full_version < '3.11'" },
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