├── LICENSE ├── README.txt ├── V-REP └── models │ └── FrankaEmikaPanda.ttm ├── cpp ├── README.txt ├── Robot_vs_Model_torques.jpg └── panda_dyn_model_example │ ├── CMakeLists.txt │ ├── include │ └── franka_model.h │ └── src │ ├── CoriolisMatrix.cpp │ ├── FrictionTorque.cpp │ ├── GravityVector.cpp │ ├── MassMatrix.cpp │ └── Model_example.cpp ├── matlab ├── ConvertDynPars2VREP │ └── DynPars2VREP.m ├── data │ ├── Exciting_Traj │ │ └── Trajectory_1 │ │ │ ├── gen_dq.txt │ │ │ ├── gen_params.txt │ │ │ ├── gen_q0.txt │ │ │ ├── gen_time.txt │ │ │ └── rbt_log │ │ │ ├── exciting_traj_positions.txt │ │ │ ├── exciting_traj_time.txt │ │ │ ├── exciting_traj_torques.txt │ │ │ └── exciting_traj_velocity.txt │ ├── FrankaSTLModel │ │ ├── finger.stl │ │ ├── hand.stl │ │ ├── link0.stl │ │ ├── link1.stl │ │ ├── link2.stl │ │ ├── link3.stl │ │ ├── link4.stl │ │ ├── link5.stl │ │ ├── link6.stl │ │ └── link7.stl │ └── good_confs │ │ └── GOOD_CONFS_1010.txt ├── dyn_model_panda │ ├── README.txt │ ├── get_CoriolisMatrix.m │ ├── get_CoriolisVector.m │ ├── get_FrictionTorque.m │ ├── get_GravityVector.m │ ├── get_MassMatrix.m │ └── main.m ├── generate_joint_traj │ ├── AutomaticExcTrjGen.m │ └── CalcFeasibleRandomJointsPositions.m ├── parameters_retrieval │ ├── README.txt │ ├── bounds_gM.csv │ ├── bounds_gM_friction.csv │ ├── check_inertia_condition.m │ ├── error_fcn_gM_LMI.m │ ├── error_fcn_gM_LMI_regressor.asv │ ├── error_fcn_gM_LMI_regressor.m │ ├── get_Panda_coefficients_expanded.asv │ ├── get_Panda_coefficients_expanded.m │ ├── main.asv │ ├── main.m │ ├── read_bounds.m │ └── regressor_and_pars_data.mat └── utils │ ├── DirectKinematic.m │ ├── FramesChainFromDH.m │ ├── GeneralizedSteiner.m │ ├── LoadFrankaSTLModel.m │ ├── Load_Franka_DH.m │ ├── PlotChain.m │ ├── PlotFrame.m │ ├── getPatches.m │ ├── randJointPos.m │ └── stlread.m ├── package.json └── pdf └── RA-L_2019_PandaDynIdent_SUPPLEMENTARY_MATERIAL.pdf /LICENSE: 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