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

• Setup/Installation
  • Installing NTRT Without a Virtual Machine
  • Installing NTRT in a Virtual Machine
  • General Linux Help
• YAML Model Builder
  • Building Simple Structures
  • Combining Structures
• Learning Library Walk-through
  • Initial Steps
  • Algorithm Options
  • What’s going on under the hood?
  • Using learning in Python
  • Historical Notes and Future Work
• How to Choose and Configure NTRT’s Motor and Cable Models
  • Cables
  • Motors
  • Controlling Each Type of Motor
• Data Management and Logging
  • Quick Start: Log data from rods and actuators using tgDataLogger2
  • The structure of a tgDataLogger2 data file
  • Using tgDataLogger2 with YAML models
  • Using tgCompoundRigidSensor
• Third Party Libraries
  • JSONcpp
  • Neural Net
• Contribute to Tutorials
  • Install Sphinx
  • Getting Started with Sphinx
  • Modifying NTRT’s Tutorials