NASA Tensegrity Robotics Toolkit Tutorials¶

The NASA Tensegrity Robotics Toolkit (NTRT) is a collection of C++ and MATLAB software modules for the modeling, simulation, and control of Tensegrity Robots. The NTRT Simulator is a tensegrity-specific simulator built to run ontop of the Bullet Physics Engine, version 2.82.

NTRT’s source code is available on GitHub:

https://github.com/NASA-Tensegrity-Robotics-Toolkit/NTRTsim

Contents¶

Contribute to Tutorials¶

This section contains details on contributing to NTRT’s tutorials.

Install Sphinx¶

NTRT’s tutorials are written using Sphinx. So first you’ll need to ensure you have Sphinx installed. You can learn more here:

http://sphinx-doc.org/latest/install.html

Getting Started with Sphinx¶

You can find details on Sphinx’s markup on Sphinx’s website:

http://sphinx-doc.org/tutorial.html

Modifying NTRT’s Tutorials¶

NTRTSim’s tutorials can be found in the docs/source directory.

Once you’ve made your desired changes, double check that they throw no errors on generation. You can generate HTML output by running make html in the doc folder. Once you’ve verified that no errors occur, push your changes to the repository.