Merge pull request #3079 from aftersomemath:sysid-pr

PiperOrigin-RevId: 868229512
Change-Id: I790bc08fc8b0745583a2f92d9ee2c5a19ba558ea

python/mujoco/sysid/report/sections/insights.py

@@ -0,0 +1,113 @@
+# Copyright 2026 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
+"""Automated insights report section."""
+
+from typing import Any
+
+from mujoco.sysid._src import parameter
+from mujoco.sysid.report.sections.base import ReportSection
+
+
+class AutomatedInsights(ReportSection):
+  """Analyzes identification results and generates automated insights/suggestions.
+
+  Currently checks for parameters stuck at boundaries.
+  """
+
+  def __init__(
+      self,
+      title: str,
+      parameter_dict: parameter.ParameterDict,
+      anchor: str = "insights",
+      collapsible: bool = True,
+  ):
+    # Default to collapsed
+    super().__init__(collapsible=collapsible, is_open=False)
+    self._anchor = anchor
+    self._parameter_dict = parameter_dict
+    self._x_hat = parameter_dict.as_vector()
+
+    self._insights = self._generate_insights()
+    self._n_warnings = len(
+        [i for i in self._insights if i["type"] == "warning"]
+    )
+
+    self._title = f"Log - {self._n_warnings} warnings"
+
+  def _generate_insights(self) -> list[dict[str, Any]]:
+    insights = []
+
+    # Logic: Check for boundary hits
+    param_names = self._parameter_dict.get_non_frozen_parameter_names()
+    bounds = self._parameter_dict.get_bounds()
+    lower_bounds, upper_bounds = bounds
+
+    if len(self._x_hat) != len(param_names):
+      raise ValueError("Parameter count mismatch")
+
+    for i, name in enumerate(param_names):
+      val = self._x_hat[i]
+      lb = lower_bounds[i]
+      ub = upper_bounds[i]
+
+      rng = max(ub - lb, 1e-9)
+
+      # Threshold: 0.1% of range or 1e-6 absolute
+      threshold = rng * 1e-3
+      if threshold < 1e-8:
+        threshold = 1e-8
+
+      if abs(val - lb) < threshold:
+        insights.append({
+            "type": "warning",
+            "title": "Lower Bound Hit",
+            "message": (
+                f"Parameter <b>{name}</b> ({val:.4g}) is at its lower bound"
+                f" ({lb:.4g})."
+            ),
+        })
+      elif abs(val - ub) < threshold:
+        insights.append({
+            "type": "warning",
+            "title": "Upper Bound Hit",
+            "message": (
+                f"Parameter <b>{name}</b> ({val:.4g}) is at its upper bound"
+                f" ({ub:.4g})."
+            ),
+        })
+
+    if not insights:
+      insights.append({
+          "type": "success",
+          "title": "No Issues Detected",
+          "message": "All parameters are within their bounds.",
+      })
+
+    return insights
+
+  @property
+  def template_filename(self) -> str:
+    return "insights.html"
+
+  @property
+  def title(self) -> str:
+    return self._title
+
+  @property
+  def anchor(self) -> str:
+    return self._anchor
+
+  def get_context(self) -> dict[str, Any]:
+    return {"title": self._title, "insights": self._insights}