Victor Mylle
5880997786
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.
22 lines
1.0 KiB
YAML
22 lines
1.0 KiB
YAML
# Tuned robot config — generated by src.sysid (2026-03-28)
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# Motor params: motor-only sysid cost 0.2117
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# Full-system params: sysid cost 1.216 (0.2s windows, amplitude 200)
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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: [0.371194, 0.428143] # torque constant [pos, neg] (motor sysid)
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ctrl_range: [-0.611479, 0.611479] # effective control bound (full sysid)
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deadzone: [0.141820, 0.031454] # L298N min |ctrl| for torque [pos, neg]
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damping: [0.001384, 0.005196] # viscous damping [pos, neg]
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frictionloss: [0.036744, 0.069082] # Coulomb friction [pos, neg]
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filter_tau: 0.022301 # 1st-order actuator filter (motor sysid)
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joints:
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motor_joint:
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armature: 0.002753 # 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: 1.3e-06 # full sysid (was 0.000119)
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frictionloss: 3.7e-06 # full sysid (was 1.0e-05)
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