♻️ 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/robot_tuned.yaml
+++ b/assets/motor/robot_tuned.yaml
@@ -0,0 +1,23 @@
+# 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