System Identification (WIP)¶
This section provides a comprehensive guide to perform system identification (SysID) for Dynamixel motors.
Hardware Setup¶
You will need to purchase the sysID section in the Bill of Materials.
For 3D-printed parts, you can find all the sliced plates in the MakerWorld and the CAD files in the Onshape document.
We use 21700 cells as loads to adjust the motor load weight.
TODO: Add the image of the sysID setup.
SysID Data Collection¶
TODO
Set up Optuna Dashboard¶
To visualize the sysID optimization process, you need to install the following packages:
sudo apt install libpq-dev postgresql
sudo systemctl start postgresql
brew install postgresql
brew services start postgresql
Run PostgreSQL:
sudo -u postgres psql
psql postgres
Enter the following commands in the PostgreSQL prompt:
CREATE DATABASE optuna_db;
CREATE USER optuna_user WITH ENCRYPTED PASSWORD 'password';
GRANT ALL PRIVILEGES ON DATABASE optuna_db TO optuna_user;
Exit the PostgreSQL prompt.
Run the Optuna dashboard:
optuna-dashboard postgresql://optuna_user:password@localhost/optuna_db