Unified the two separate sysid codepaths (motor-only and full-system)
into a single module that optimizes all 28 parameters jointly:
- 13 motor params (asymmetric gear, damping, friction, deadzone,
Stribeck boost, action bias, filter tau, armature, ctrl_limit)
- 15 pendulum/arm params (mass, CoM, inertia, joint dynamics)
Key changes:
- Added stribeck_friction_boost, stribeck_vel, action_bias to
ActuatorConfig (robot.py) and MJX runner
- Created shared src/sysid/preprocess.py (SG velocity recomputation)
- Rewrote src/sysid/rollout.py with unified MOTOR_PARAMS + PENDULUM_PARAMS
spec and PARAM_SETS dict for flexible subset optimization
- Updated optimize.py, export.py, visualize.py to use unified params
(removed all LOCKED_MOTOR_PARAMS references)
- Removed src/sysid/motor/ module and scripts/motor_sysid.py
Net: -1383 lines, zero code duplication between motor and full-system sysid.
