params.json

{
    "data":
    {
        "experiment": "sysid_h4_yellow_2024_03_14-16_00_32",
        "convert_mcap": true
    },
    "learning_params":
    {
        "learning_rate": 1e-4,
        "nb_epochs": 200,
        "batch_size": 512,
        "testing_share": 0.1,
        "encoder_length": 20,
        "prediction_length": 50
    },
    "model":
    {
        "load_model": false,
        "model_path": "models/abc/model.pt",

        "thrust_poly_order": 3,

        "learn_configuration_matrix": false,
        "learn_center_of_mass": true,
        "learn_inertia": true,
        "learn_mass": false,
        "learn_tau": true,
        "learn_signal2thrust": true,
        "learn_motor_angle_offset": true,
        "learn_motors_vec": false,
        "learn_motors_pos": false,

        "lr_mul_configuration_matrix": 1,
        "lr_mul_center_of_mass": 1,
        "lr_mul_inertia": 1e-1,
        "lr_mul_mass": 1,
        "lr_mul_tau": 1,
        "lr_mul_signal2thrust": 1,
        "lr_mul_motor_angle_offset": 1,
        "lr_mul_motors_vec": 1,
        "lr_mul_motors_pos": 1
    },
    "default_model_params":
    {
        "motor_distance": 0.046532,
        "motor_angle_offset": 0.0,
        "motor_angel_delta": 0.328220,
        "center_of_mass": [0.0, 0.0, 0.0],
        "mass": 145.3e-3,
        "inertia": 0.5356e-3,
        "signal2thrust": [[0.026828422632851595, 1.050842947701885, -0.43371886420836747],
                          [0.026828422632851595, 1.050842947701885, -0.43371886420836747],
                          [0.026828422632851595, 1.050842947701885, -0.43371886420836747],
                          [0.026828422632851595, 1.050842947701885, -0.43371886420836747],
                          [0.026828422632851595, 1.050842947701885, -0.43371886420836747],
                          [0.026828422632851595, 1.050842947701885, -0.43371886420836747]],
        "tau": 0.03
    }
}