% ------------------------------------------------------------------------
% Set limits on posistion and velocities
% ------------------------------------------------------------------------
q_min = -pi*ones(ndof,1);
q_max = pi*ones(ndof,1);
qd_max = 3*pi*ones(ndof,1);
q2d_max = 6*pi*ones(ndof,1); 
% -----------------------------------------------------------------------
% Find relation between independent columns and dependent columns
% -----------------------------------------------------------------------
% Get observation matrix of identifiable paramters
for j = 1:robot.ndof
    W = [];
    for i = 1:25
        q_rnd = q_min + (q_max - q_min).*rand(ndof,1);
        qd_rnd = -qd_max + 2*qd_max.*rand(ndof,1);
        q2d_rnd = -q2d_max + 2*q2d_max.*rand(ndof,1);
        standard_regressor_func = sprintf('standard_regressor_%s',opt.robotName);
        Y = feval(standard_regressor_func, q_rnd,qd_rnd,q2d_rnd);
        W = vertcat(W,Y(j,:));
    end
    % matrix W has rank qr_rank which is number number of base parameters 
    robot.baseQR.rank(i) = rank(W); 
end