♻️ 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/rotary_cartpole/sysid_result.json
+++ b/assets/rotary_cartpole/sysid_result.json
@@ -0,0 +1,101 @@
+{
+  "best_params": {
+    "actuator_gear_pos": 0.8464986357922419,
+    "actuator_gear_neg": 1.1837332515116656,
+    "actuator_filter_tau": 0.09626340711982824,
+    "motor_damping_pos": 0.013165358841570964,
+    "motor_damping_neg": 0.015451769431035585,
+    "motor_armature": 0.0016762295220909746,
+    "motor_frictionloss_pos": 0.014244285616762612,
+    "motor_frictionloss_neg": 0.0010053574956085138,
+    "stribeck_friction_boost": 0.06859381652654695,
+    "stribeck_vel": 5.279593819777324,
+    "motor_deadzone_pos": 0.1810971675049997,
+    "motor_deadzone_neg": 0.20207167371643614,
+    "action_bias": 0.05656632270757292,
+    "arm_mass": 0.04052645463607292,
+    "arm_com_x": 0.02679980831009001,
+    "arm_com_y": -0.015110803875962989,
+    "arm_com_z": -0.005337417994989926,
+    "pendulum_mass": 0.056793277126969105,
+    "pendulum_com_x": 0.04237886229290564,
+    "pendulum_com_y": -0.05762212306183831,
+    "pendulum_com_z": -0.0006039324398328591,
+    "pendulum_ixx": 0.0005956997356690322,
+    "pendulum_iyy": 8.986080748758447e-05,
+    "pendulum_izz": 0.0006855370063143978,
+    "pendulum_ixy": -1.074983574165622e-05,
+    "pendulum_damping": 1.1718327130851149e-05,
+    "pendulum_frictionloss": 7.204244487092445e-05,
+    "ctrl_limit": 0.6862506602999546
+  },
+  "best_cost": 0.9250391788859942,
+  "recording": "/Users/victormylle/Library/CloudStorage/SeaDrive-VictorMylle(cloud.optimize-it.be)/My Libraries/Projects/AI/RL-Framework/assets/rotary_cartpole/recordings/capture_20260328_153749.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",
+    "stribeck_friction_boost",
+    "stribeck_vel",
+    "motor_deadzone_pos",
+    "motor_deadzone_neg",
+    "action_bias",
+    "arm_mass",
+    "arm_com_x",
+    "arm_com_y",
+    "arm_com_z",
+    "pendulum_mass",
+    "pendulum_com_x",
+    "pendulum_com_y",
+    "pendulum_com_z",
+    "pendulum_ixx",
+    "pendulum_iyy",
+    "pendulum_izz",
+    "pendulum_ixy",
+    "pendulum_damping",
+    "pendulum_frictionloss",
+    "ctrl_limit"
+  ],
+  "defaults": {
+    "actuator_gear_pos": 0.371194,
+    "actuator_gear_neg": 0.428143,
+    "actuator_filter_tau": 0.022301,
+    "motor_damping_pos": 0.001384,
+    "motor_damping_neg": 0.005196,
+    "motor_armature": 0.002753,
+    "motor_frictionloss_pos": 0.036744,
+    "motor_frictionloss_neg": 0.069082,
+    "stribeck_friction_boost": 0.0,
+    "stribeck_vel": 2.0,
+    "motor_deadzone_pos": 0.14182,
+    "motor_deadzone_neg": 0.031454,
+    "action_bias": 0.0,
+    "arm_mass": 0.0211,
+    "arm_com_x": -0.0071,
+    "arm_com_y": 0.00085,
+    "arm_com_z": 0.00795,
+    "pendulum_mass": 0.03937,
+    "pendulum_com_x": 0.06025,
+    "pendulum_com_y": -0.07602,
+    "pendulum_com_z": -0.00346,
+    "pendulum_ixx": 6.2e-05,
+    "pendulum_iyy": 3.7e-05,
+    "pendulum_izz": 7.83e-05,
+    "pendulum_ixy": -6.93e-06,
+    "pendulum_damping": 0.0001,
+    "pendulum_frictionloss": 0.0001,
+    "ctrl_limit": 0.588
+  },
+  "preprocess_vel": true,
+  "timestamp": "2026-03-28T17:09:39.241413",
+  "history_summary": {
+    "first_cost": 13.490216059926947,
+    "final_cost": 0.9250391788859942,
+    "generations": 475
+  }
+}