Victor Mylle 5880997786 refactor: merge motor sysid into unified sysid module ...

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.

2026-03-28 16:48:22 +01:00

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