Reverse engineer the Panda dynamics model.
pip install adnap
Point the environment variable to the libfranka shared library downloaded with 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