This repo contains code for determining regressor matrix for systematic parameter identification of robots.
Dart is an open source physics engine for simulating articulated rigid bodies with high accuracy and efficiency and PyDart2 is a python binding of Dart. To install Dart, please follow the below instructions:
sudo apt-get install build-essential cmake pkg-config git
sudo apt-get install libeigen3-dev libassimp-dev libccd-dev libfcl-dev libboost-regex-dev libboost-system-dev
sudo apt-get install libopenscenegraph-dev
sudo apt-get install libbullet-dev
sudo apt-get install liburdfdom-dev
sudo apt-get install libnlopt-dev
sudo apt-get install libxi-dev libxmu-dev freeglut3-dev
sudo apt-get install libode-dev # ignore this if it tells you ode has already been installed
git clone git://github.com/dartsim/dart.git
cd dart
git checkout tags/v6.3.0
mkdir build
cd build
cmake ..
make -j4
sudo make install
This repo comes when you clone the entire repo 'Parameter_ID'
Before compialation, change the file names of some important files listed below:
- InputQfilename
- InoutQdotfilename
- InputQdotdotfilename
- Inputtorquefilename
Follow the steps to install
mkdir build cd build cmake .. make
In order to run with a simulation, follow instructions in 41-krang-sim-ach to launch the ach channels and processes required before this program is run. Then in the build folder of this repo, type:
sudo ./Get_phi_ArmDynamics <train/test.
Please use either train or test to run algorithm on training or testing data