Project description

ADNAP

Reverse engineer the Panda dynamics model.

pip install adnap

The dependency panda-model requires POCO C++ libraries and Eigen3 to be installed. On Ubuntu install them by running:

sudo apt-get install libpoco-dev libeigen3-dev

Point the environment variable to the libfranka shared library downloaded with panda-model

export PANDA_MODEL_PATH=<path-to-libfrankamodel.so>

Run optimization with 10 random samples from the Panda state-space and save results in params.npy:

adnap-optimize -n 10 -o params.npy

Evaluate the optimized physical parameters against the shared library on 1000 random samples:

adnap-evaluate -n 1000 params.npy

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This version

0.3.0

Feb 23, 2023

0.1.0

Feb 23, 2023

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