How to adapt figaroh to my custom robot

[5y50541]

Hi thanhndv212
First of all, thank you very much for developing the figaroh project! It's really helpful for robot calibration/identification tasks.
I'm trying to use figaroh with my own robot, but I'm not clear about the specific adaptation steps and required data/files. I hope you can provide some guidance on the following questions:

1. Robot adaptation core questions
   What is the general process to adapt figaroh to a custom robot ( KUKA KR AGILUS KR 10 R1100 )?
2. Required robot data
   I have collected some basic parameters of my robot (KUKA), and I want to confirm which of these are necessary and in what format they should be provided:
   Kinematic parameters: DH parameters / MDH parameters / URDF file
   Dynamic parameters: motor rotor inertia /joint friction coefficients /link mass/inertia
   Looking forward to your reply! Thanks again for your hard work and support.

[thanhndv212]

Hello.
Have you tried one of these examples? https://github.com/thanhndv212/figaroh-examples

1. You need robot urdf and mesh files to adapt your robot.
2. The model format to be used is urdf. For non-standard dynamic parameters like rotor inertia, friction, joint torque offset, you can identify them by enabling this option in a configuration file.
   I would suggest you try the Staubli example as it has been well studied and cross-validated by publiblication.
   If you encouter any issue, don't hesitate to ask questions.
   Thanks.