identification¶

Identification: robot parameters from measured data.

Modules

`efficiency`	A transmission efficiency fitted to static measurements, by least squares through the origin.
`params`	Any Params of a robot, fitted to logged motion by least squares on its dynamics residual.
`plateaus`(t, held, tolerance, *[, min_hold, ...])	The settled part of every hold of `held`, as slices of the log.
`steps`	Torque steps for the step experiment: a controller that runs on any plant.
`stiffness`	A robot's diagonal stiffness and damping, fitted to logged motion under known motor torques.
`transmission`	A cable transmission ratio fitted to joint angles set and motor angles read.