What are you using the Evaluation Framework for? #1
Description
Hello everybody, we are glad to have you here!
Since there are potentially countless ways to use the Evaluation Framework, we are very curious to hear what you are using it for.
The idea of this issue is to post and present projects in which the Evaluation Framework is used. Whether your project is only in its initial, prototyping stage, or it is already finished, we are curious to here about it.
I will start here with the first use case of the Evaluation Framework, which i implemented and evaluated in my master's thesis:
Using the Franka Emika Panda robot, we simulated thousands of different trajectories in Unity in a physically realistic environment with the Evaluation Framework, evaluating them for their energy efficiency, execution time and total distance covered by the robot. We imported the robot into Unity using the RosBridgeClient library of ROS#, with the URDF file of the Panda robot from the official Franka Emika GitHub repository.
The Python GUI helped us to evaluate how different trajectories - parametrized by only varying the second and fourth joint angle of the robot - influence different dynamic robot parameters, such as the energy consumption of the Panda robot's motors during motion:
