System Identification

Code Repository: Data recorder

Deploy on Talos:

roslaunch talos_dataset_controller full_data_estimator_controller.launch
rosbag record /full_data_estimator_controller/full_data /left_ankle_ft /right_ankle_ft /left_ankle_ft /right_wrist_ft /joint_states /joint_torque_states /floating_base_pose /tf_static /tf /right_arm_controller/command /left_arm_controller/command --split --duration=60

Code Repository: SysID LogCholesky

python3 ./PickleDataLogCholeskyFinal.py

Inertia Parameters

DefaultOptimized

Joint	m	mx	my	mz	Ixx	Ixy	Ixz	Iyy	Iyz	Izz
base_link	15.36284	-0.87713	0.02351	-1.17145	0.20105	0.00023	0.00402	0.08412	-0.00087	0.23189
torso_1_joint	2.29466	0.00179	0.00008	-0.04090	0.00639	0.00000	-0.00003	0.00410	-0.00000	0.00623
torso_2_joint	16.98400	-0.78636	-0.01681	2.46677	0.44377	0.00069	-0.01212	0.30000	-0.00020	0.32211
arm_left_1_joint	2.71457	-0.00075	0.27309	0.12046	0.01238	-0.00004	0.00007	0.00419	-0.00024	0.01358
arm_left_2_joint	2.42509	0.03489	0.00225	-0.21060	0.01298	0.00001	-0.00320	0.01381	-0.00013	0.00479
arm_left_3_joint	2.20874	0.03006	0.02742	-0.55196	0.00719	-0.00012	0.00076	0.00694	0.00042	0.00388
arm_left_4_joint	0.81568	-0.00661	-0.01586	-0.02716	0.00300	-0.00009	0.00034	0.00304	-0.00042	0.00126
arm_right_1_joint	2.71457	-0.00075	-0.27309	0.12046	0.01238	0.00004	0.00007	0.00419	0.00024	0.01358
arm_right_2_joint	2.42509	0.03489	-0.00225	-0.21060	0.01298	-0.00001	-0.00320	0.01381	0.00013	0.00479
arm_right_3_joint	2.20874	0.03006	-0.02742	-0.55196	0.00719	0.00012	0.00076	0.00694	-0.00042	0.00388
arm_right_4_joint	0.81568	-0.00661	-0.01586	-0.02716	0.00300	-0.00009	0.00034	0.00304	-0.00042	0.00126
leg_left_1_joint	2.23501	0.18937	0.24579	0.03813	0.01050	0.00014	-0.00008	0.00534	0.00119	0.00708
leg_left_2_joint	1.49095	-0.01051	0.03866	0.00408	0.00497	-0.00013	-0.00001	0.00191	0.00005	0.00474
leg_left_3_joint	6.23987	0.03652	0.39746	-1.14437	0.15337	0.00069	0.00168	0.13648	-0.02188	0.03002
leg_left_4_joint	3.75995	0.04955	0.10970	-0.43595	0.04288	0.00044	0.00078	0.03599	0.00038	0.01365
leg_left_5_joint	1.29096	-0.01808	0.05396	0.04932	0.01143	0.00097	0.00040	0.00889	-0.00278	0.00506
leg_left_6_joint	1.61177	-0.03251	-0.00082	-0.09716	0.00456	-0.00007	0.00115	0.00773	0.00004	0.00582
leg_right_1_joint	2.23501	0.18937	-0.24579	0.03813	0.01050	0.00004	0.00010	0.00534	-0.00119	0.00709
leg_right_2_joint	1.49095	-0.01051	-0.03866	0.00408	0.00497	0.00013	-0.00001	0.00191	-0.00005	0.00474
leg_right_3_joint	6.23987	0.03652	-0.39746	-1.14437	0.15337	-0.00069	0.00168	0.13648	0.02188	0.03002
leg_right_4_joint	3.75995	0.04955	-0.10970	-0.43595	0.04288	-0.00044	0.00078	0.03599	-0.00038	0.01365
leg_right_5_joint	1.29096	-0.01808	-0.05396	0.04932	0.01143	-0.00097	0.00040	0.00889	0.00278	0.00506
leg_right_6_joint	1.61177	-0.03251	0.00082	-0.09716	0.00456	0.00007	0.00115	0.00773	-0.00004	0.00582

Joint	m	mx	my	mz	Ixx	Ixy	Ixz	Iyy	Iyz	Izz
base_link	17.09032	-0.07504	-0.04831	0.00445	0.47237	-0.08617	0.07481	0.39026	-0.11384	0.31576
torso_1_joint	2.93665	0.00193	0.04132	0.04808	0.73533	-0.01624	-0.01375	0.43922	-0.29763	0.29798
torso_2_joint	19.27442	-0.03650	-0.00013	0.23207	0.88209	0.00936	0.03717	0.78746	0.17071	0.22674
arm_left_1_joint	3.29587	-0.00228	0.06864	0.24238	0.25857	-0.00569	0.01742	0.23144	0.04366	0.03035
arm_left_2_joint	2.99899	0.01682	-0.03102	0.02509	0.21356	0.00832	-0.01787	0.19948	0.02318	0.02235
arm_left_3_joint	2.75703	0.01660	0.11184	-0.06207	0.18589	-0.01711	-0.00875	0.08724	-0.06521	0.10467
arm_left_4_joint	1.20881	-0.00636	0.09849	-0.32214	0.26369	0.00625	-0.00478	0.15559	0.07761	0.10883
arm_right_1_joint	3.29643	-0.00228	-0.05173	0.24330	0.38476	0.01477	0.01755	0.23917	-0.14832	0.14872
arm_right_2_joint	3.00058	0.01685	0.05175	0.03912	0.29437	-0.01334	-0.01977	0.25439	-0.05074	0.04826
arm_right_3_joint	2.75469	0.01680	-0.10318	-0.04476	0.18936	0.01574	-0.00983	0.10774	0.06752	0.08778
arm_right_4_joint	1.20307	-0.00605	-0.06938	-0.31944	0.17292	-0.00252	-0.00452	0.15281	-0.04459	0.02077
leg_left_1_joint	2.64121	0.05701	-0.06023	0.28369	0.12005	0.00228	0.00410	0.11055	-0.02931	0.01113
leg_left_2_joint	1.98497	-0.01000	0.06687	0.20889	0.21954	0.00629	0.01218	0.19251	-0.06847	0.03041
leg_left_3_joint	7.24099	0.00458	0.08178	-0.03733	0.26562	-0.00912	-0.01521	0.21187	-0.09090	0.06075
leg_left_4_joint	4.55341	0.00989	0.05922	-0.16963	0.09491	-0.00581	0.00435	0.06808	0.02473	0.03125
leg_left_5_joint	1.69760	-0.01424	0.10314	-0.29532	0.26892	0.00724	-0.01190	0.23122	0.08135	0.04071
leg_left_6_joint	2.01644	-0.02148	0.06234	0.11432	0.34691	0.01575	0.03072	0.30428	-0.08317	0.05314
leg_right_1_joint	2.64339	0.05705	-0.29055	0.28176	0.13217	0.00219	0.00394	0.11762	0.01884	0.01620
leg_right_2_joint	1.98685	-0.01000	0.04683	0.20046	0.25081	0.01107	0.01166	0.17709	-0.06268	0.07707
leg_right_3_joint	7.24640	0.00517	-0.02486	-0.05449	0.27370	-0.01833	-0.01425	0.18778	-0.02706	0.09481
leg_right_4_joint	4.59595	0.01073	0.02871	-0.13609	0.10923	-0.01240	0.00259	0.04686	0.00762	0.06760
leg_right_5_joint	1.71624	-0.01205	0.05535	-0.30513	0.29438	0.00697	-0.01065	0.24881	0.05258	0.04773
leg_right_6_joint	2.03228	-0.01823	0.01811	0.06140	0.23615	0.00312	0.01531	0.23586	-0.02887	0.00796

Actuator Parameters

The following table lists the default parameters stored in the yaml files at opt/pal/ferrum/share/talos_controller_configuration/config/local_control/actuator_parameters on the control PC. Bold values differ from the ones in the provided Hardware Sheet.

Joint	Motor Inertia	Torque Constant \(K_{t,\mathrm{Peak}}\), \(\frac{Nm}{A_\mathrm{Peak}}\)	Static Friction	Viscous Friction	Joint Elasticity	Joint Elasticity Damping
arm_left_1	0.000207288	0.1031	0.152436	0.635302	10000.0	-20.
arm_left_2	0.000140493	0.1031	0.152436	0.635302	10000.0	-20.
arm_left_3	8.60398e-05	0.106	0.5	0.27	10000.0	-20.
arm_left_4	8.60398e-05	0.106	0.5	0.27	10000.0	-20.
arm_left_5	1.e-05	0.039	0.05	0.05	10000.0	-20.
arm_left_6	1.e-05	0.034	0.05	0.05	10000.0	-20.
arm_left_7	1.e-05	0.034	0.05	0.05	10000.0	-20.
arm_right_1	0.000207288	0.1031	0.152436	0.635302	10000.0	-20.
arm_right_2	0.000140493	0.1031	0.152436	0.635302	10000.0	-20.
arm_right_3	8.60398e-05	0.106	0.5	0.27	10000.0	-20.
arm_right_4	8.60398e-05	0.106	0.5	0.27	10000.0	-20.
arm_right_5	1.e-05	0.039	0.05	0.05	10000.0	-20.
arm_right_6	1.e-05	0.034	0.05	0.05	10000.0	-20.
arm_right_7	1.e-05	0.034	0.05	0.05	10000.0	-20.
gripper_left	1.e-05	0.1068376068	0.05	0.05	10000.0	-20.
gripper_right	1.e-05	0.1068376068	0.05	0.05	10000.0	-20.
head_1	1.e-05	0.1068376068	0.05	0.05	10000.0	-20.
head_2	1.e-05	0.1068376068	0.05	0.05	10000.0	-20.
leg_left_1	8.60398e-05	0.098	0.1	0.3	10000.0	-20.
leg_left_2	0.000207288	0.1031	0.1	0.4	10000.0	-20.
leg_left_3	0.000207288	0.1031	0.1	0.3	10000.0	-20.
leg_left_4	0.000195461	0.065	0.1	0.4	10000.0	-20.
leg_left_5	0.000207288	0.1031	0.1	0.1	10000.0	-20.
leg_left_6	8.60398e-05	0.106	0.1	0.2	10000.0	-20.
leg_right_1	8.60398e-05	0.098	0.1	0.3	10000.0	-20.
leg_right_2	0.000207288	0.1031	0.1	0.4	10000.0	-20.
leg_right_3	0.000207288	0.1031	0.1	0.3	10000.0	-20.
leg_right_4	0.000195461	0.065	0.1	0.4	10000.0	-20.
leg_right_5	0.000207288	0.1031	0.1	0.1	10000.0	-20.
leg_right_6	8.60398e-05	0.106	0.1	0.2	10000.0	-20.
torso_1	0.000207288	0.1031	0.1	0.5	10000.0	-20.
torso_2	0.000207288	0.1031	0.1	0.5	10000.0	-20.