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:
ROS arguments can be used to change the parameters. For example, to run control trajectory data collection with a control inputs file named "control_inputs_controlled_1.csv" and saving the observations to "observations_controlled_1.csv" you would run:
ros2 run executor data_collection_node --ros-args -p data_subtype:=’controlled’ -p results_name:=’observations_controlled_1’ -p input_num:=1
The data will be saved in the main/data/trajectories/ directory.