Collecting Data

To collect data using the Trunk robot, after setting up the robot using the motion capture and motor control instructions, the following steps can be followed.

Usage

Essentially, all you need to run is contained in:

cd asl_trunk_ws
./scripts/run_data_collection.sh

Currently, this script will only collect steady-state data according to the control inputs as specified in control_inputs.csv in the asl_trunk_ws. The data will be saved in the data/steady_state/ directory.