Add the possibility to draw 3d arrows

[GiulioRomualdi]

If a signal has 6 channels it is now possible to draw a 3d arrow. The first three elements are considered as the origin of the arrow while the other three as vector components.

This is an example

Screencast.from.26-09-2024.17.23.33.webm

This feature came out after a discussion with @davidegorbani and @Gianlucamilani

[traversaro]

Cool! In the logger how is the px py and pz of the force logged?

[S-Dafarra]

Cool! The only open point I have is regarding the normalization. Right now it is normalized using the maximum (if I got it right), and it makes sense. Nonetheless, I believe there could be two cases in which we could have issues:

1. real-time logging, as the maximum might not be known beforehand
2. lack of comparison between arrows; if I have two arrows with different maximums, they might appear equal even if they are not.

Would it make sense to apply a constant scaling instead?

[GiulioRomualdi]

For real-time, I have to check how to handle it (maybe a constant scaling would be beneficial). Here, the maximum is computed as the maximum of all the selected arrows. So, the proportion is still considered

[GiulioRomualdi]

Cool! In the logger how is the px py and pz of the force logged?

I modified the walking to test it so I logged the position of lsole and r sole

[traversaro]

Cool! In the logger how is the px py and pz of the force logged?

I modified the walking to test it so I logged the position of lsole and r sole

And the same piece of code is also logging the base pose, so the two are coherent?

[GiulioRomualdi]

Cool! In the logger how is the px py and pz of the force logged?

I modified the walking to test it so I logged the position of lsole and r sole

And the same piece of code is also logging the base pose, so the two are coherent?

Yep, that one was already available

[DanielePucci]

Fantastic