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chore: update robot.yaml with unified sysid cost 0.925

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All 28 params tuned jointly. Now includes stribeck_friction_boost,
stribeck_vel, action_bias. Points to rotary_cartpole_tuned.urdf.
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Victor Mylle
2026-03-28 18:46:45 +01:00
parent 5880997786
commit 8ed9afe583
1 changed files with 14 additions and 12 deletions
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26
assets/rotary_cartpole/robot.yaml
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@@ -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