In this distribution are a couple of python files. To fully run this code install scipy (for plotting) and the associated matlab like matrix library, numpy. Inside the distribution is:
solvers.py - containing an implementation of the described Sequential Quadratic Programming algorithm, primal-dual path following quadratic program solver, and golden section line search.
exp1_pendulum_calibration.py - code estimating the model of a pendulum
exp2_two_link_calibration.py - code for estimating the model of a two link manipulator
exp3_three_link.py - code for estimating the model of a 3 link manipulation
To run each of the experiment python file, just type “python file_name.py”. In the case of the 3 link script, a variety of command line options are available to run the different sub experiments:
-s will run the optimizer while varying the sample size
-n will run the optimizer, varying the amount of noise in the output torques
-r will test sensitivity to initial start points
