hebi

ROS is bad.

Setup

Background: https://docs.lyceum.ml/dev/

bash> cd hebi
bash> julia --project
julia> ]
(hebi) pkg> registry add https://github.com/Lyceum/LyceumRegistry
(hebi) pkg> instantiate
(hebi) pkg> resolve

Testing

testsysid function currently compares two models after setting one to have the wrong damping values for two joints.

It correctly recovers the correct values, assuming the same parameters for the two different motors.

julia> include("src/runhebi.jl")
julia> h = HebiPickup()
julia> h2 = HebiPickup()
julia> a = getsincontrols(h, 2000)
julia> result = testsysid(h, h2, a; optm=:LBFGS)
julia> result.minimizer
6-element Array{Float64,1}:
 0.4989704738104854
 0.09929717145680375
 0.010059651430875389
 0.009927101543924597
 0.5005574377220603
 0.1057254675069472

The gradsysid function is an example of LBFGS optimization with a finite differenced graddient function that uses multi-threading. It may be currently buggy.

SysID

julia> include("src/runhebi.jl")
julia> h = HebiPickup()
julia> dt, pos, vel, act, eff = datafile("data/example2.csv")
julia> result = filesysid(vcat(pos, vel), h, act; optm=:LBFGS, batch=6000:10000)
julia> hebivars = gethebivars()
julia> hv = hebivars(result.minimizer)
julia> hv.x8_damping