# Staubli TX40

Fixed-base manipulator — dynamic parameter identification only (no calibration or optimal-design scripts in this example). [→ source folder](https://github.com/thanhndv212/figaroh-examples/tree/main/examples/staubli_tx40)

## 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`](https://thanhndv212.github.io/figaroh-plus/examples/templates/index.md)
- `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

- [Identification Walkthrough](https://thanhndv212.github.io/figaroh-plus/tutorials/identification_walkthrough/index.md)
- Full README: [figaroh-examples/examples/staubli_tx40/README.md](https://github.com/thanhndv212/figaroh-examples/blob/main/examples/staubli_tx40/README.md)