External Shape Sensing of Vine Robots

Table of Contents

• Prerequisites
• Installation
• Usage
• Notes

Prerequisites (skip steps if appropriate)

• Install pip on your machine by entering the following commands in Terminal:

curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
python3 get-pip.py

• Install virtualenv on your machine by entering:

pip3 install virtualenv

First-Time Installation

• Clone this GitHub repository onto your local machine and navigate to it in Terminal.
• Enter the following commands:

python3 -m virtualenv shape_sensing_virtualenv
source shape_sensing_virtualenv/bin/activate
pip3 install -r requirements.txt

• Once all installation is complete, enter the following command to deactivate the virtual environment:

deactivate

Usage

• The virtual environment needs to be active in order for the program to function as intended. To do this, ensure that you are inside the correct directory (the cloned repository) and enter the following command:

source shape_sensing_virtualenv/bin/activate

• To run the program, enter the following:

python3 external_shape_sensing.py

and follow the instructions.

• Deactivate the virtual environment at the end of your session by entering the following command:

 deactivate

Notes

• The python script generates a rotation and transformation matrix for converting LUNA data to PhaseSpace coordinates.
• The MATLAB script is then used to convert all LUNA data to PhaseSpace and plot the specific frames of the time-synced data.