Reverse engineer the Panda dynamics model.
Project description
ADNAP
Reverse engineer the Panda dynamics model.
Install
pip install adnap
Requirements
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
Usage
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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