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♻️ full agent refactor

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Victor Mylle
2026-06-10 21:15:34 +02:00
parent a98e86ef66
commit 1e0836e1bc
49 changed files with 1309 additions and 829 deletions
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10
assets/motor/hardware.yaml Normal file
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# Motor-only hardware config
# Encoder and motor constants for the motor-only sysid capture.
encoder:
ppr: 11 # pulses per revolution (before quadrature)
gear_ratio: 30.0 # gearbox ratio
# counts_per_rev = ppr × gear_ratio × 4 (quadrature) = 1320
motor:
max_pwm: 255 # maximum PWM command accepted by firmware

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assets/motor/motor.xml Normal file
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<?xml version="1.0" encoding="utf-8"?>
<mujoco model="motor_sysid">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.002" integrator="Euler"/>
<worldbody>
<light pos="0 0 1" dir="0 0 -1"/>
<!-- Fixed base (gearbox housing) -->
<body name="base" pos="0 0 0.15">
<geom type="cylinder" size="0.04 0.06" mass="0.921"
rgba="0.3 0.3 0.3 1" contype="0" conaffinity="0"/>
<!-- Arm: rotates around motor_joint (z-axis) -->
<body name="arm" pos="0 0 0">
<joint name="motor_joint" type="hinge" axis="0 0 1"
range="-1.5708 1.5708"
damping="0.001" armature="0.0001" frictionloss="0.03"/>
<!-- Rotor disk: mass is tunable by the optimizer -->
<geom name="rotor_disk" type="cylinder" size="0.008 0.004"
mass="0.012" pos="0 0 0" rgba="0.6 0.6 0.6 1"
contype="0" conaffinity="0"/>
<!-- Arm load: lightweight arm attached to motor shaft -->
<geom name="arm_load" type="capsule" size="0.004"
fromto="0 0 0 -0.014 0.002 0.016"
mass="0.021" rgba="0.8 0.3 0.1 1"
contype="0" conaffinity="0"/>
</body>
</body>
</worldbody>
<actuator>
<general name="motor" joint="motor_joint"
gear="0.064"
ctrllimited="true" ctrlrange="-1 1"
dyntype="filter" dynprm="0.03"/>
</actuator>
</mujoco>

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assets/motor/motor_bare.xml Normal file
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<?xml version="1.0" encoding="utf-8"?>
<!-- Motor-only model WITHOUT arm/pendulum load.
Use for arm-off sysid captures. arm_load mass set to ~0. -->
<mujoco model="motor_sysid_bare">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.002" integrator="Euler"/>
<worldbody>
<light pos="0 0 1" dir="0 0 -1"/>
<!-- Fixed base (gearbox housing) -->
<body name="base" pos="0 0 0.15">
<geom type="cylinder" size="0.04 0.06" mass="0.921"
rgba="0.3 0.3 0.3 1" contype="0" conaffinity="0"/>
<!-- Arm: rotates around motor_joint (z-axis) -->
<body name="arm" pos="0 0 0">
<joint name="motor_joint" type="hinge" axis="0 0 1"
range="-1.5708 1.5708"
damping="0.001" armature="0.0001" frictionloss="0.03"/>
<!-- Rotor disk: mass is tunable by the optimizer -->
<geom name="rotor_disk" type="cylinder" size="0.008 0.004"
mass="0.012" pos="0 0 0" rgba="0.6 0.6 0.6 1"
contype="0" conaffinity="0"/>
<!-- Arm load: near-zero mass for bare-shaft sysid -->
<geom name="arm_load" type="capsule" size="0.004"
fromto="0 0 0 -0.014 0.002 0.016"
mass="0.001" rgba="0.8 0.3 0.1 0.3"
contype="0" conaffinity="0"/>
</body>
</body>
</worldbody>
<actuator>
<general name="motor" joint="motor_joint"
gear="0.064"
ctrllimited="true" ctrlrange="-1 1"
dyntype="filter" dynprm="0.03"/>
</actuator>
</mujoco>

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assets/motor/motor_sysid_result.json Normal file
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{
"best_params": {
"actuator_gear_pos": 0.3711939014035462,
"actuator_gear_neg": 0.42814281188601877,
"actuator_filter_tau": 0.022300731564787457,
"motor_damping_pos": 0.0013836218905629106,
"motor_damping_neg": 0.005196351489379768,
"motor_armature": 0.0027534181478216656,
"motor_frictionloss_pos": 0.03674406439012955,
"motor_frictionloss_neg": 0.06908200024786905,
"viscous_quadratic": 0.000958226218765762,
"back_emf_gain": 0.0036492272912788297,
"stribeck_friction_boost": 0.044748043677129666,
"stribeck_vel": 4.0513395945623705,
"rotor_mass": 0.03982640764507874,
"motor_deadzone_pos": 0.14181963932762467,
"motor_deadzone_neg": 0.031454276545010214,
"action_bias": -0.007362969452509152,
"gearbox_backlash": 1.4749880999407965e-09
},
"best_cost": 0.21167928018839952,
"recording": "/Users/victormylle/Library/CloudStorage/SeaDrive-VictorMylle(cloud.optimize-it.be)/My Libraries/Projects/AI/RL-Framework/assets/motor/recordings/motor_from_cartpole_162432.npz",
"param_names": [
"actuator_gear_pos",
"actuator_gear_neg",
"actuator_filter_tau",
"motor_damping_pos",
"motor_damping_neg",
"motor_armature",
"motor_frictionloss_pos",
"motor_frictionloss_neg",
"viscous_quadratic",
"back_emf_gain",
"stribeck_friction_boost",
"stribeck_vel",
"rotor_mass",
"motor_deadzone_pos",
"motor_deadzone_neg",
"action_bias",
"gearbox_backlash"
],
"defaults": {
"actuator_gear_pos": 0.064,
"actuator_gear_neg": 0.064,
"actuator_filter_tau": 0.03,
"motor_damping_pos": 0.003,
"motor_damping_neg": 0.003,
"motor_armature": 0.0001,
"motor_frictionloss_pos": 0.03,
"motor_frictionloss_neg": 0.03,
"viscous_quadratic": 0.0,
"back_emf_gain": 0.0,
"stribeck_friction_boost": 0.0,
"stribeck_vel": 2.0,
"rotor_mass": 0.012,
"motor_deadzone_pos": 0.08,
"motor_deadzone_neg": 0.08,
"action_bias": 0.0,
"gearbox_backlash": 0.0
},
"timestamp": "2026-03-23T20:50:53.648753",
"history_summary": {
"first_cost": 5.105499579419285,
"final_cost": 0.21167928018839952,
"generations": 500
}
}

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assets/motor/motor_tuned.xml Normal file
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<?xml version='1.0' encoding='utf-8'?>
<mujoco model="motor_sysid">
<compiler angle="radian" autolimits="true" />
<option timestep="0.002" integrator="Euler" />
<worldbody>
<light pos="0 0 1" dir="0 0 -1" />
<body name="base" pos="0 0 0.15">
<geom type="cylinder" size="0.04 0.06" mass="0.921" rgba="0.3 0.3 0.3 1" contype="0" conaffinity="0" />
<body name="arm" pos="0 0 0">
<joint name="motor_joint" type="hinge" axis="0 0 1" range="-1.5708 1.5708" damping="0" armature="0.0027534181478216656" frictionloss="0" />
<geom name="rotor_disk" type="cylinder" size="0.008 0.004" mass="0.03982640764507874" pos="0 0 0" rgba="0.6 0.6 0.6 1" contype="0" conaffinity="0" />
<geom name="arm_load" type="capsule" size="0.004" fromto="0 0 0 -0.014 0.002 0.016" mass="0.021" rgba="0.8 0.3 0.1 1" contype="0" conaffinity="0" />
</body>
</body>
</worldbody>
<actuator>
<general name="motor" joint="motor_joint" gear="0.3996683566447825" ctrllimited="true" ctrlrange="-1 1" dyntype="filter" dynprm="0.022300731564787457" />
</actuator>
</mujoco>

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assets/motor/robot.yaml Normal file
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# Motor-only sysid config
# Minimal config for the motor-only identification pipeline.
# The optimizer patches motor.xml in-memory; this file tells it
# which MJCF to load and provides encoder/hardware constants.
mjcf: motor.xml

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assets/motor/robot_bare.yaml Normal file
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# Motor-only sysid config — bare shaft (no arm/pendulum load)
# Use with arm-off captures to identify pure motor dynamics.
mjcf: motor_bare.xml

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assets/motor/robot_tuned.yaml Normal file
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# Tuned motor config — generated by src.sysid.motor.optimize
# Original: robot.yaml
mjcf: motor_tuned.xml
joints:
motor_joint:
armature: 0.002753
frictionloss: 0.052913
hardware_realism:
actuator_gear_pos: 0.371194
actuator_gear_neg: 0.428143
motor_damping_pos: 0.001384
motor_damping_neg: 0.005196
motor_frictionloss_pos: 0.036744
motor_frictionloss_neg: 0.069082
motor_deadzone_pos: 0.14182
motor_deadzone_neg: 0.031454
action_bias: -0.007363
viscous_quadratic: 0.000958
back_emf_gain: 0.003649
stribeck_friction_boost: 0.044748
stribeck_vel: 4.05134
gearbox_backlash: 0.0