♻️ full agent refactor

assets/rotary_cartpole/robot_tuned.yaml

@@ -0,0 +1,34 @@
+# Tuned robot config — generated by src.sysid.optimize
+# Original: robot.yaml
+# Run `python -m src.sysid.visualize` to compare real vs sim.
+
+urdf: rotary_cartpole_tuned.urdf
+actuators:
+- joint: motor_joint
+  type: motor
+  gear:
+  - 0.846499
+  - 1.183733
+  ctrl_range:
+  - -0.686251
+  - 0.686251
+  deadzone:
+  - 0.181097
+  - 0.202072
+  damping:
+  - 0.013165
+  - 0.015452
+  frictionloss:
+  - 0.014244
+  - 0.001005
+  filter_tau: 0.096263
+  stribeck_friction_boost: 0.068594
+  stribeck_vel: 5.279594
+  action_bias: 0.056566
+joints:
+  motor_joint:
+    armature: 0.001676
+    frictionloss: 0.0
+  pendulum_joint:
+    damping: 1.2e-05
+    frictionloss: 7.2e-05