Using the Tool

Compile Rigid Body dynamics

$ aurt compile-rbd --mdh mdh.csv --gravity 0.0 0.0 -9.81 --out rigid_body_dynamics

Compile Robot Dynamics Model

$ aurt compile-rd --model-rbd rigid_body_dynamics --friction-load-model square --friction-viscous-powers 2 1 4 --out robot_dynamics

Calibrate

$ aurt calibrate --model robot_dynamics --data measured_data.csv --out-params calibrated_parameters.csv --out-calibration-model robot_calibration --plot

Predict

$ aurt predict --model robot_calibration --data measured_data.csv --prediction predicted_output.csv