From 8ed9afe583b2b15744211b7b52bb974db50c43d0 Mon Sep 17 00:00:00 2001 From: Victor Mylle Date: Sat, 28 Mar 2026 18:46:45 +0100 Subject: [PATCH] chore: update robot.yaml with unified sysid cost 0.925 All 28 params tuned jointly. Now includes stribeck_friction_boost, stribeck_vel, action_bias. Points to rotary_cartpole_tuned.urdf. --- assets/rotary_cartpole/robot.yaml | 26 ++++++++++++++------------ 1 file changed, 14 insertions(+), 12 deletions(-) diff --git a/assets/rotary_cartpole/robot.yaml b/assets/rotary_cartpole/robot.yaml index 02d27ab..09ad859 100644 --- a/assets/rotary_cartpole/robot.yaml +++ b/assets/rotary_cartpole/robot.yaml @@ -1,21 +1,23 @@ # Tuned robot config — generated by src.sysid (2026-03-28) -# Motor params: motor-only sysid cost 0.2117 -# Full-system params: sysid cost 1.216 (0.2s windows, amplitude 200) +# Unified sysid: cost 0.925 (28 params, 0.2s windows, amplitude 200) -urdf: rotary_cartpole.urdf +urdf: rotary_cartpole_tuned.urdf actuators: - joint: motor_joint type: motor - gear: [0.371194, 0.428143] # torque constant [pos, neg] (motor sysid) - ctrl_range: [-0.611479, 0.611479] # effective control bound (full sysid) - deadzone: [0.141820, 0.031454] # L298N min |ctrl| for torque [pos, neg] - damping: [0.001384, 0.005196] # viscous damping [pos, neg] - frictionloss: [0.036744, 0.069082] # Coulomb friction [pos, neg] - filter_tau: 0.022301 # 1st-order actuator filter (motor sysid) + gear: [0.846499, 1.183733] # torque constant [pos, neg] + ctrl_range: [-0.686251, 0.686251] # effective control bound + 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 filter + stribeck_friction_boost: 0.068594 # low-velocity friction boost + stribeck_vel: 5.279594 # Stribeck velocity scale (rad/s) + action_bias: 0.056566 # asymmetric bias offset joints: motor_joint: - armature: 0.002753 # reflected rotor inertia (motor sysid) + armature: 0.001676 # reflected rotor inertia frictionloss: 0.0 # handled by motor model via qfrc_applied pendulum_joint: - damping: 1.3e-06 # full sysid (was 0.000119) - frictionloss: 3.7e-06 # full sysid (was 1.0e-05) + damping: 1.2e-05 # pendulum pivot damping + frictionloss: 7.2e-05 # pendulum pivot friction