This repository contains a minimal working MATLAB example of the methods described in:

Smooth Parameterization of Rigid-Body Inertia by Rucker and Wensing (link)

and

Geometric Robot Dynamic Identification: A Convex Programming Approach by Lee, Wensing, and Park (link)

The repository requires you to have CVX installed and accessible in your MATLAB path.

After pulling down the code, be sure to pull in the submodule using git submodule update --init --recursive

Please email me at [email protected] if you have any issues, or feel free to open an issue.