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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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19
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>