♻️ full agent refactor

assets/motor/motor_sysid_result.json

@@ -0,0 +1,67 @@
+{
+  "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
+  }
+}