70 lines
2.1 KiB
JSON
70 lines
2.1 KiB
JSON
{
|
|
"best_params": {
|
|
"arm_mass": 0.012391951282440451,
|
|
"arm_com_x": 0.014950488360794875,
|
|
"arm_com_y": 0.006089886527968399,
|
|
"arm_com_z": 0.004470745447817278,
|
|
"pendulum_mass": 0.035508993892747365,
|
|
"pendulum_com_x": 0.06432778588634695,
|
|
"pendulum_com_y": -0.05999895841669392,
|
|
"pendulum_com_z": 0.0008769789937631209,
|
|
"pendulum_ixx": 3.139576982078822e-05,
|
|
"pendulum_iyy": 9.431951659638859e-06,
|
|
"pendulum_izz": 4.07315891863556e-05,
|
|
"pendulum_ixy": -1.8892943833253423e-06,
|
|
"actuator_gear": 0.17669161390939517,
|
|
"actuator_filter_tau": 0.040905643692382504,
|
|
"motor_damping": 0.009504542103348917,
|
|
"pendulum_damping": 6.128535042404019e-05,
|
|
"motor_armature": 0.0013894759540138252,
|
|
"motor_frictionloss": 0.002179448047511452
|
|
},
|
|
"best_cost": 0.7471380533090072,
|
|
"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",
|
|
"param_names": [
|
|
"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",
|
|
"actuator_gear",
|
|
"actuator_filter_tau",
|
|
"motor_damping",
|
|
"pendulum_damping",
|
|
"motor_armature",
|
|
"motor_frictionloss"
|
|
],
|
|
"defaults": {
|
|
"arm_mass": 0.01,
|
|
"arm_com_x": 5e-05,
|
|
"arm_com_y": 0.0065,
|
|
"arm_com_z": 0.00563,
|
|
"pendulum_mass": 0.015,
|
|
"pendulum_com_x": 0.1583,
|
|
"pendulum_com_y": -0.0983,
|
|
"pendulum_com_z": 0.0,
|
|
"pendulum_ixx": 6.16e-06,
|
|
"pendulum_iyy": 6.16e-06,
|
|
"pendulum_izz": 1.23e-05,
|
|
"pendulum_ixy": 6.1e-06,
|
|
"actuator_gear": 0.064,
|
|
"actuator_filter_tau": 0.03,
|
|
"motor_damping": 0.003,
|
|
"pendulum_damping": 0.0001,
|
|
"motor_armature": 0.0001,
|
|
"motor_frictionloss": 0.03
|
|
},
|
|
"timestamp": "2026-03-11T22:08:04.782736",
|
|
"history_summary": {
|
|
"first_cost": 3.909456214944022,
|
|
"final_cost": 0.7471380533090072,
|
|
"generations": 200
|
|
}
|
|
} |