PI BULLET

Copyright BULLET 2020

Purposes

PI extraction codes within the BULLET testbed. Two algorithms have been implemented: pi_bullet_walking and pi_bullet_walkingComplete.

pi_bullet_walking

pi_bullet_walking extracts following PIs:

• Peak_load_left
• Peak_load_right
• RMS_load_left
• RMS_load_right
• Stance_time_left
• Stance_time_right

using following files:

• wrench_CrutchLeft.csv
• wrench_CrutchRight.csv
• gaitEvents.yaml.

pi_bullet_walkingComplete

pi_bullet_walkingComplete extracts the following PIs:

• Peak_load_left,
• Peak_load_right,
• RMS_load_left,
• RMS_load_right,
• Stance_time_left,
• Stance_time_right,
• Peak_load_shoulders_left,
• Peak_load_shoulders_right,
• RMS_load_shoulders_left,
• RMS_load_shoulders_right,

from the pre-processed data files:

• wrench_CrutchLeft.csv,
• wrench_CrutchRight.csv,
• gaitEvents,
• wrench_ShoulderLeft.csv,
• wrench_ShoulderRight.csv.

Installation

To enable the code under octave, additional packages are needed.

sudo apt-get install liboctave-dev

Follow these recommendations to make the installation of the additional packages needed:

• control
• signal
• io
• statistics
• matgeom
• geometry
• mapping

Once octave is configured:

pkg load control
pkg load signal
pkg load io
pkg load statistics
pkg load matgeom
pkg load geometry
pkg load mapping

Usage

pi_bullet_walking

Assuming folder output exists:

./run_pi_BulletWalking tests/walking/input/wrench_CrutchLeft.csv tests/walking/input/wrench_CrutchRight.csv tests/walking/input/gaitEvents.yaml output

pi_bullet_walkingComplete

Assuming folder output exists:

./run_pi_BulletWalkingComplete tests/walking_complete/input/wrench_CrutchLeft.csv tests/walking_complete/input/wrench_CrutchRight.csv tests/walking_complete/input/gaitEvents.yaml tests/walking_complete/input/wrench_ShoulderLeft.csv tests/walking_complete/input/wrench_ShoulderRight.csv output

Build docker image

(only tested under linux)

Run the following command in order to create the docker image for this PI:

docker build . -t pi_bullet

Launch the docker image

Assuming the tests/walking/input contains the input data, and that the directory out_tests/ is already created, and will contain the PI output:

docker run --rm -v $PWD/tests/walking/input:/in -v $PWD/out_tests:/out pi_bullet ./run_pi_BulletWalking
/in/wrench_CrutchLeft.csv /in/wrench_CrutchRight.csv /in/gaitEvents.yaml /out

Similar command can be launched for the algorithm walkingcomplete:

docker run --rm -v $PWD/tests/walking_complete/input:/in -v $PWD/out_tests:/out pi_bullet ./run_pi_BulletWalkingComplete /in/wrench_CrutchLeft.csv /in/wrench_CrutchRight.csv /in/gaitEvents.yaml /in/wrench_ShoulderLeft.csv /in/wrench_ShoulderRight.csv /out

Acknowledgements

Supported by Eurobench - the European robotic platform for bipedal locomotion benchmarking. More information: Eurobench website

This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 779963.

The opinions and arguments expressed reflect only the author‘s view and reflect in no way the European Commission‘s opinions. The European Commission is not responsible for any use that may be made of the information it contains.