✨ clean up lot of stuff
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@@ -10,7 +10,7 @@ encoder:
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# counts_per_rev = ppr × gear_ratio × 4 (quadrature) = 1320
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safety:
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max_motor_angle_deg: 90.0 # hard termination limit (0 = disabled)
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max_motor_angle_deg: 90.0 # hard termination limit (physical endstop ~70-80°)
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soft_limit_deg: 40.0 # progressive penalty ramp starts here
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reset:
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Binary file not shown.
@@ -1,20 +1,21 @@
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# Tuned robot config — generated by src.sysid.optimize
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# Original: robot.yaml
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# Run `python -m src.sysid.visualize` to compare real vs sim.
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urdf: rotary_cartpole.urdf
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actuators:
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- joint: motor_joint
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type: motor
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gear: 0.176692
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ctrl_range:
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- -1.0
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- 1.0
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damping: 0.009505
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filter_tau: 0.040906
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gear: [0.424182, 0.425031] # torque constant [pos, neg] (motor sysid)
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ctrl_range: [-0.592, 0.592] # effective control bound (sysid-tuned)
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deadzone: [0.141291, 0.078015] # L298N min |ctrl| for torque [pos, neg]
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damping: [0.002027, 0.014665] # viscous damping [pos, neg]
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frictionloss: [0.057328, 0.053355] # Coulomb friction [pos, neg]
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filter_tau: 0.005035 # 1st-order actuator filter (motor sysid)
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viscous_quadratic: 0.000285 # velocity² drag
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back_emf_gain: 0.006758 # back-EMF torque reduction
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joints:
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motor_joint:
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armature: 0.001389
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frictionloss: 0.002179
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armature: 0.002773 # reflected rotor inertia (motor sysid)
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frictionloss: 0.0 # handled by motor model via qfrc_applied
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pendulum_joint:
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damping: 6.1e-05
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damping: 0.000119
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frictionloss: 1.0e-05
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@@ -26,8 +26,8 @@
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</joint>
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<link name="arm">
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<inertial>
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<origin xyz="0.014950488360794875 0.006089886527968399 0.004470745447817278" rpy="0 0 0" />
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<mass value="0.012391951282440451" />
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<origin xyz="-0.0071030505291264975 0.0008511826488989179 0.007952020186701035" rpy="0 0 0" />
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<mass value="0.02110029934220782" />
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<inertia ixx="2.70e-06" iyy="7.80e-07" izz="2.44e-06" ixy="0.0" iyz="7.20e-08" ixz="0.0" />
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</inertial>
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<visual>
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@@ -53,9 +53,9 @@
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</joint>
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<link name="pendulum">
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<inertial>
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<origin xyz="0.06432778588634695 -0.05999895841669392 0.0008769789937631209" rpy="0 0 0" />
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<mass value="0.035508993892747365" />
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<inertia ixx="3.139576982078822e-05" iyy="9.431951659638859e-06" izz="4.07315891863556e-05" ixy="-1.8892943833253423e-06" iyz="0.0" ixz="0.0" />
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<origin xyz="0.060245187591695615 -0.07601707109312682 -0.0034636702158137786" rpy="0 0 0" />
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<mass value="0.03936742845036306" />
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<inertia ixx="6.202768755990066e-05" iyy="3.70078470430685e-05" izz="7.827356811788924e-05" ixy="-6.925117819616428e-06" iyz="0.0" ixz="0.0" />
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</inertial>
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<visual>
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<origin xyz="0.006895 -0.023224 -0.162953" rpy="0 0 0" />
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@@ -1,70 +0,0 @@
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{
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"best_params": {
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"arm_mass": 0.012391951282440451,
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"arm_com_x": 0.014950488360794875,
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"arm_com_y": 0.006089886527968399,
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"arm_com_z": 0.004470745447817278,
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"pendulum_mass": 0.035508993892747365,
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"pendulum_com_x": 0.06432778588634695,
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"pendulum_com_y": -0.05999895841669392,
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"pendulum_com_z": 0.0008769789937631209,
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"pendulum_ixx": 3.139576982078822e-05,
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"pendulum_iyy": 9.431951659638859e-06,
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"pendulum_izz": 4.07315891863556e-05,
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"pendulum_ixy": -1.8892943833253423e-06,
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"actuator_gear": 0.17669161390939517,
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"actuator_filter_tau": 0.040905643692382504,
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"motor_damping": 0.009504542103348917,
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"pendulum_damping": 6.128535042404019e-05,
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"motor_armature": 0.0013894759540138252,
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"motor_frictionloss": 0.002179448047511452
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},
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"best_cost": 0.7471380533090072,
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"recording": "/Users/victormylle/Library/CloudStorage/SeaDrive-VictorMylle(cloud.optimize-it.be)/My Libraries/Projects/AI/RL-Framework/assets/rotary_cartpole/recordings/capture_20260311_215608.npz",
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"param_names": [
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"arm_mass",
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"arm_com_x",
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"arm_com_y",
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"arm_com_z",
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"pendulum_mass",
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"pendulum_com_x",
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"pendulum_com_y",
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"pendulum_com_z",
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"pendulum_ixx",
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"pendulum_iyy",
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"pendulum_izz",
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"pendulum_ixy",
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"actuator_gear",
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"actuator_filter_tau",
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"motor_damping",
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"pendulum_damping",
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"motor_armature",
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"motor_frictionloss"
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],
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"defaults": {
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"arm_mass": 0.01,
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"arm_com_x": 5e-05,
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"arm_com_y": 0.0065,
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"arm_com_z": 0.00563,
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"pendulum_mass": 0.015,
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"pendulum_com_x": 0.1583,
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"pendulum_com_y": -0.0983,
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"pendulum_com_z": 0.0,
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"pendulum_ixx": 6.16e-06,
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"pendulum_iyy": 6.16e-06,
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"pendulum_izz": 1.23e-05,
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"pendulum_ixy": 6.1e-06,
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"actuator_gear": 0.064,
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"actuator_filter_tau": 0.03,
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"motor_damping": 0.003,
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"pendulum_damping": 0.0001,
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"motor_armature": 0.0001,
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"motor_frictionloss": 0.03
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},
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"timestamp": "2026-03-11T22:08:04.782736",
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"history_summary": {
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"first_cost": 3.909456214944022,
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"final_cost": 0.7471380533090072,
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"generations": 200
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}
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}
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