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program_execution.md

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Program Execution

The software package can be executed using the Command Line Interface or the In-line Terminal Interface.

Command Line Interface

The command line interface offers a step-by-step interface that prompts the user for inputs on what program configuration the package should run. This method is convenient and recommended for users who are not familir with the software package.

cd src
bash start_program.sh

Example:

Example of running software configuration for:

  • Sine Sequence
  • Pybullet Inverse Kinematics
  • Solo Control Environment
  • Phase 2 Calibration

In-line Terminal Interface

The in-line terminal interface offers a one line quick and repeatable flag based command system for users who are familiar with the software package.

cd src
bash start_program.sh <flags>

In-line Terminal Interface <flags>

-h Print help.

-s Define sequence type.
  0 Use pre-existing sequence
  a Use arbitrary sequence
  s Use sine sequence
  c Use circular sequence
  t Use step sequence

-i Define inverse kinematics tool.
  0 Use pre-existing inverse kinematics
  p Use pybullet inverse kinematics

-c Define control environment.
  p Use pybullet environment
  s Use solo robot environment

-p Define calibration phase.
  x Use no calibration
  0 Calibration Phase 0
  1 Calibration Phase 1
  2 Calibration Phase 2

Example:

Example of running software configuration for:

  • Sine Sequence
  • Pybullet Inverse Kinematics
  • Solo Control Environment
  • Phase 2 Calibration