based_on_Flobaroid

This repository is based on Flobaroid to identify the dynamic parameters of abb irb 2600 and abb irb 6640

##Content Six Python scripts are available :

• trajectory.py This script computes an optimal excitation trajectory.
• visualizer.py /!\ TODO
• excite.py /!\ TODO
• identify.py /!\ TODO
• optimal_trajectory_test.py /!\ TODO
• plot trajectory.py /!\ TODO

See the corresponding paragraph for description

##trajectory.py This script computes an optimal excitation trajectory from the following usual parameters :

1. --filename : the name of the file into which trajectory parameters are to be saved, in npz format;

2. --config : the configuration options for trajectory optimization (algorithm, number of pass, etc.) in yaml format;

3. --model : the file describing the robot considered, in urdf format;

4. --world : the file describing the world in which the robot is set, in urdf format.

Additional parameters exist, see the Python code.