Benchmark testing of the Orbita3d controller

The benchmarking program is in the main.rs and the benchmarking data and tools are in scripts directory.

📢 Additionally, the python directory contains the minimal python setup necessary to interact with the Orbita3d controller (not necessary for the benchmarking program) - see the python directory.

In the benchmarking directory are the python scripts to generate the benchmarking input data and to plot the benchmarking results.

• generate_input_data.py generates the benchmarking input data
  • outputs a csv file with the benchmarking input csv data
• plot_test_data.py plots the benchmarking results
  • plots the figures showing the test results

Test plot outputs:

Pre-requisites

To install the testbench you'll need to have:

• Rust installed - see Rust installation
• EtherCAT IgH master installed - see EtherCAT IgH master installation

Installation

To install the testbench do the following:

git clone https://github.com/pollen-robotics/orbita3d_testbench.git
cd orbita3d_testbench

build the project:

cargo build --release

Running the benchmarking program

The benchmarking program is in the main.rs. The benchmarking program takes in a timeseries csv file with the target values of the orbita3d actuator. The benchmarking program will send the target values to the orbita3d actuator and record the actual values of the actuator. The benchmarking program will output a csv file with the actual values of the actuator.

Generate the test input data by running the generate_input_data.py script in the scripts directory. The script will output a csv file with the benchmarking input data.

To run the program do the following:

RUST_LOG=info cargo run --release -- 

The program will ask you the path to the input and the output csv files and will also use the default configuration file config/fake.yaml. If you want to use a different configuration file, you can specify it with the --configfile flag.

Additionally, you can specify the --viewer flag to view the actuator in the Rerun program.

Finally, you can also specify the input and output csv files with the --input-csv and --output-csv flags.

List of flags:

• --configfile - specify the configuration file (default is config/fake.yaml, other options are for example: config/ethercat_poulpe.yaml)
• --input-csv - specify the input csv file
• --output-csv - specify the output csv file
• --start-server - start the EtherCAT server (IMPORTANT mandatory if not already running)
• --viewer - view the actuator in the Rerun program
  • Note: the Rerun program must installed separately

  cargo install cargo-binstall
  cargo binstall rerun-cli
  

Running the benchmarking program with the benchmarking data

• Run the test program with an input csv file:
  • ie:

cargo run --release -- --start-server \
        --configfile=config/ethercat_poulpe.yaml \
        --input-csv=benchmarking/test_input.csv \
        --output-csv=test_output.csv \
        --viewer