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| ## joint-position-tracking | ||
| # joint-position-tracking | ||
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| The **joint-position-tracking** is a simple tool for testing the joint position tracking of a robot in a `YARP` environment. | ||
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| ## :running: How to use the application | ||
| The fastest way to use the application is to run the `sh` script [`blf-joint-position-tracking-script.sh`](./script/blf-joint-position-tracking-script.sh). If you correctly installed the the framework you can run the script from any folder. | ||
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| # :running: How to use the application | ||
| The fastest way to use the application is to run the `sh` script [`run_test.sh`](./script/run_test.sh). | ||
| The script will: | ||
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| - move the robot | ||
| - store the desired and actual joint position in a `txt` file | ||
| - run a python script to plot the data in a file called `figure.png` | ||
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| The [`jointPositionTrackingOptions`](./config/jointPositionTrackingOptions.ini) file contains some parameters that you may modify to control a given joint: | ||
| The [`blf-joint-position-tracking-options.ini`](./config/robots/iCubGenova09/blf-joint-position-tracking-options.ini) file contains some parameters that you may modify to control a given joint: | ||
| - `max_angle_deg`: is the max angle reached by the joint (the value is in degrees) | ||
| - `min_angle_def`: is the min angle reached by the joint (the value is in degrees) | ||
| - `trajectory_duration`: is the duration of the generated trajectory (the value is in seconds) | ||
| - `robot_name`: name of the robot | ||
| - `joints_list`: list of the controlled joint (for the time being multiple joints control is not supported. Please specify only one joint) | ||
| - `remote_control_boards`: list of associated control board (for the time being multiple joints control is not supported. Please specify only one control board) | ||
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| This is an example of usage | ||
| Please if you want to run the application for a different robot remember to create a new folder in `./config/robots/`. The name of the folder should match the name of the robot. | ||
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| This is an example of usage | ||
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