05 Measurements

Two type of measurements are currently available:

• simulator module cables lengths
• simulator module rods center of mass (CoM) movements

To generate these data and plots two bash scripts are provided which, executed further applications to collect, analyze and visualize needed data. All the analysis scripts are provided in the measurements_scripts folder. Therefore the corresponding scripts can be executed in the following manner:

• Cables lengths measurements

    /home/tensoft/simulation/perform_measurements <output_folder>
  

  this script will output the cables lengths according to simulated robot. These values must be replaced in the code in the robotController.h file, as explained by the script. The output should be something similar to the following:

   double AL[5] = {
       3.7924985751515052,
       4.5968806782932745,
       4.165038304316172,
       4.294122628208502,
       4.432296027591343
   };
  

  Afterward, to generate the command-compression plots it is necessary to run the same script as above, with the same folder, but adding the flag --cmd2comp.

   /home/tensoft/simulation/perform_measurements.sh <output_folder> --cmd2comp 
  

• CoM measurements

   /home/tensoft/simulation/compute_coms.sh <output_folder>
  

To simplify the process of measurements, both scripts recompile the whole simulation code with the proper flags enabled and it will compile it again with the standard parameters at the end of the analysis.

In addition to previous scripts, the script measurements_scripts/evolve_mod_conf.py can be employed to compute the Ks constant multipliers of the NN controller formula. For this script there are no actual command line parameters, but it has been decided to use some global variables in the top part of the file.