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Staubli TX40

Fixed-base manipulator — dynamic parameter identification only (no calibration or optimal-design scripts in this example). → source folder

What's included

  • identification.py — loads the TX40 URDF, initializes identification, runs the solve step
  • utils/staubli_tx40_tools.py — TX40Identification (active joints, filtering/decimation choices, reporting)
  • config/staubli_tx40_unified_config.yaml — extends manipulator_robot.yaml
  • data/pos_read_data.csv, data/curr_data.csv — input logs

Run

cd examples/staubli_tx40
python identification.py

--verify and --html-report are on by default — a plain run already prints a terminal quality report, writes a self-contained HTML diagnostic report with an interactive before/after chart, and writes a machine-readable pass/fail verdict.

Plotting and result-saving are controlled by arguments passed to TX40Identification.solve(...) inside identification.py (e.g. plotting=True, save_results=False, wls=True) rather than CLI flags — edit the script directly to change them.

See also