Metadata-Version: 2.1
Name: adnap
Version: 0.3.0
Summary: Reverse engineer the Panda dynamics model.
Project-URL: homepage, https://github.com/JeanElsner/adnap
Project-URL: documentation, https://adnap.readthedocs.io
Project-URL: repository, https://github.com/JeanElsner/adnap
Author-email: Jean Elsner <jean.elsner@tum.de>
License: MIT License
        
        Copyright (c) 2023 Jean Elsner
        
        Permission is hereby granted, free of charge, to any person obtaining a copy
        of this software and associated documentation files (the "Software"), to deal
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License-File: LICENSE
Keywords: control,dynamics,emika,franka,jacobian,libfranka,model,panda,python,robot-manipulator,robotics,simulation
Classifier: Intended Audience :: Developers
Classifier: Intended Audience :: Science/Research
Classifier: License :: OSI Approved :: MIT License
Classifier: Programming Language :: Python :: 3.7
Classifier: Programming Language :: Python :: 3.8
Classifier: Programming Language :: Python :: 3.9
Classifier: Programming Language :: Python :: 3.10
Classifier: Programming Language :: Python :: 3.11
Classifier: Topic :: Scientific/Engineering
Requires-Python: >=3.7
Requires-Dist: numpy
Requires-Dist: panda-model
Requires-Dist: roboticstoolbox-python
Requires-Dist: scipy
Requires-Dist: spatialmath-python
Requires-Dist: sympy
Provides-Extra: test
Requires-Dist: anybadge; extra == 'test'
Requires-Dist: pylint; extra == 'test'
Requires-Dist: pylint-exit; extra == 'test'
Requires-Dist: pytest; extra == 'test'
Requires-Dist: pytest-cov; extra == 'test'
Description-Content-Type: text/markdown

# ADNAP
Reverse engineer the Panda dynamics model.

[![build](https://img.shields.io/github/actions/workflow/status/JeanElsner/adnap/python-test.yml)](https://github.com/JeanElsner/adnap/actions/workflows/python-test.yml)
[![readthedocs](https://img.shields.io/readthedocs/adnap)](https://adnap.readthedocs.io/)
[![pypi-version](https://img.shields.io/pypi/v/adnap)](https://pypi.org/project/adnap/)
[![license](https://img.shields.io/github/license/JeanElsner/adnap)](https://github.com/JeanElsner/adnap/blob/main/LICENSE)
[![codecov](https://codecov.io/gh/JeanElsner/adnap/branch/main/graph/badge.svg?token=6GOKVDXZJ9)](https://codecov.io/gh/JeanElsner/adnap)
[![pylint](https://jeanelsner.github.io/adnap/pylint.svg)](https://jeanelsner.github.io/adnap/pylint.log)
[![pypi](https://img.shields.io/pypi/pyversions/adnap)](https://pypi.org/project/adnap/)

## 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`](https://github.com/JeanElsner/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
```
