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feature/R1000-identification #2

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cosmic_power merged 48 commits from feature/R1000-identification into main 2024-12-16 15:25:53 +00:00
Conversation 0 Commits 48 Files Changed 129 +10 -5
2 changed files with 10 additions and 5 deletions
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2
Identification_main.m
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@ -22,4 +22,4 @@ robot = get_regressor(robot,opt);
% symbol matched % symbol matched
% verify_regressor_R1000; % verify_regressor_R1000;
robot = get_baseParams(robot, opt); robot = get_baseParams(robot, opt);
robot = estimate_dyn(robot,opt); % robot = estimate_dyn(robot,opt);

13
get_baseParams.m
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@ -14,7 +14,7 @@ q2d_max = 6*pi*ones(ndof,1);
% Find relation between independent columns and dependent columns % Find relation between independent columns and dependent columns
% ----------------------------------------------------------------------- % -----------------------------------------------------------------------
% Get observation matrix of identifiable paramters % Get observation matrix of identifiable paramters
W = []; W = []; isSixAxisFTSensor =1; isJointTorqueSensor =0;
for i = 1:25 for i = 1:25
q_rnd = q_min + (q_max - q_min).*rand(ndof,1); q_rnd = q_min + (q_max - q_min).*rand(ndof,1);
qd_rnd = -qd_max + 2*qd_max.*rand(ndof,1); qd_rnd = -qd_max + 2*qd_max.*rand(ndof,1);
@ -22,11 +22,16 @@ for i = 1:25
if includeMotorDynamics if includeMotorDynamics
% Y = regressorWithMotorDynamics(q_rnd,qd_rnd,q2d_rnd); % Y = regressorWithMotorDynamics(q_rnd,qd_rnd,q2d_rnd);
else elseif isJointTorqueSensor
standard_regressor_func = sprintf('standard_regressor_%s',opt.robotName); standard_regressor_func = sprintf('standard_regressor_%s',opt.robotName);
Y = feval(standard_regressor_func, q_rnd,qd_rnd,q2d_rnd); Y = feval(standard_regressor_func, q_rnd,qd_rnd,q2d_rnd);
%FIXME: better compute standard_regressor elseif isSixAxisFTSensor
% Y = standard_regressor_func(q_rnd,qd_rnd,q2d_rnd); standard_regressor_func = sprintf('standard_regressor_%s',opt.robotName);
Y = feval(standard_regressor_func, q_rnd,qd_rnd,q2d_rnd);
% FIXME hack here
Zeros_ = zeros(size(Y));
Zeros_(ndof-3,:) = Y(ndof-3,:);
Y = Zeros_;
end end
W = vertcat(W,Y); W = vertcat(W,Y);
end end