♻️ full agent refactor

2026-06-10 21:15:34 +02:00
parent a98e86ef66
commit 1e0836e1bc
49 changed files with 1309 additions and 829 deletions
--- a/assets/motor/motor.xml
+++ b/assets/motor/motor.xml
@@ -0,0 +1,40 @@
+<?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>