Overwiew

A joint calibration routine for IsaacLab and Mujoco, to estimate leg motor parameters. It provides scripts for data collection on the real robot (the robot should be in the air with the base fixed). This repo interfaces directly with Pace and the new sys-id functionality of Mujoco.

Work in progress for supporting mujoco identification, PRs are very welcome!

Run a collection

This repo works best with unitree-ros2-dls for communicating with unitree go2, b2, a2, and z1 robots. Soon, will support agilex piper arms using piper-ros2-dls2.

python3 run_collection_quadruped_ros2.py

Run a calibration in IsaacLab

python3 sysid_isaaclab/my_fit.py --headless

Maintainer

This repository is maintained by Giulio Turrisi.