♻️ full agent refactor

assets/rotary_cartpole/robot.yaml

@@ -1,21 +1,30 @@
-# Tuned robot config — generated by src.sysid.optimize
+# Canonical training model — unified sysid (cost 0.925, 475 generations).
+# Source: sysid_result.json → exported via src.sysid.export.
+# Key physics: ~96 ms motor lag (filter_tau), Stribeck friction, driver bias.
+# Regenerate with:
+#   python -m src.sysid.optimize --robot-path assets/rotary_cartpole --recording <capture>.npz
+# then copy robot_tuned.yaml over this file once validated
+# (python -m src.sysid.visualize to compare real vs sim).
+
+urdf: rotary_cartpole_tuned.urdf
 
-urdf: rotary_cartpole.urdf
 actuators:
-- joint: motor_joint
-  type: motor
-  gear: [0.424182, 0.425031]          # torque constant [pos, neg] (motor sysid)
-  ctrl_range: [-0.592, 0.592]         # effective control bound (sysid-tuned)
-  deadzone: [0.141291, 0.078015]      # L298N min |ctrl| for torque [pos, neg]
-  damping: [0.002027, 0.014665]       # viscous damping [pos, neg]
-  frictionloss: [0.057328, 0.053355]  # Coulomb friction [pos, neg]
-  filter_tau: 0.005035                # 1st-order actuator filter (motor sysid)
-  viscous_quadratic: 0.000285         # velocity² drag
-  back_emf_gain: 0.006758             # back-EMF torque reduction
+  - joint: motor_joint
+    type: motor
+    gear: [0.846499, 1.183733]          # torque constant [pos, neg]
+    ctrl_range: [-0.686251, 0.686251]   # PWM saturation (MAX_MOTOR_SPEED / 255)
+    deadzone: [0.181097, 0.202072]      # L298N min |ctrl| for torque [pos, neg]
+    damping: [0.013165, 0.015452]       # viscous damping [pos, neg]
+    frictionloss: [0.014244, 0.001005]  # Coulomb friction [pos, neg]
+    filter_tau: 0.096263                # 1st-order actuator lag (s) — dominant!
+    stribeck_friction_boost: 0.068594   # extra static friction near standstill
+    stribeck_vel: 5.279594              # Stribeck decay velocity (rad/s)
+    action_bias: 0.056566               # additive ctrl bias (driver asymmetry)
+
 joints:
   motor_joint:
-    armature: 0.002773                # reflected rotor inertia (motor sysid)
-    frictionloss: 0.0                 # handled by motor model via qfrc_applied
+    armature: 0.001676                  # reflected rotor inertia (kg·m²)
+    frictionloss: 0.0                   # handled by motor model via qfrc_applied
   pendulum_joint:
-    damping: 0.000119
-    frictionloss: 1.0e-05
+    damping: 1.2e-05
+    frictionloss: 7.2e-05