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sysid: named ic construction, bug fixes, docstrings, README, more tests

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Co-authored-by: Kevin Zakka <kevinarmandzakka@gmail.com>
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Levi Burner
2026-02-10 15:15:17 -05:00
parent 210cf86486
commit e89dae359e
15 changed files with 768 additions and 1630 deletions
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python/mujoco/sysid/__init__.py
+42 -45
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@@ -12,49 +12,46 @@
# See the License for the specific language governing permissions and
# limitations under the License.
# ==============================================================================
"""Practical system identification for MuJoCo."""
"""System identification toolbox."""
from mujoco.sysid._src import model_modifier
from mujoco.sysid._src import parameter
from mujoco.sysid._src import plotting
from mujoco.sysid._src import signal_modifier
from mujoco.sysid._src.io import save_results
from mujoco.sysid._src.model_modifier import apply_body_inertia
from mujoco.sysid._src.model_modifier import apply_dgain
from mujoco.sysid._src.model_modifier import apply_param_modifiers
from mujoco.sysid._src.model_modifier import apply_param_modifiers_spec
from mujoco.sysid._src.model_modifier import apply_pdgain
from mujoco.sysid._src.model_modifier import apply_pgain
from mujoco.sysid._src.model_modifier import body_inertia_param
from mujoco.sysid._src.model_modifier import remove_visuals
from mujoco.sysid._src.optimize import calculate_intervals
from mujoco.sysid._src.optimize import optimize
from mujoco.sysid._src.parameter import InertiaType
from mujoco.sysid._src.parameter import Parameter
from mujoco.sysid._src.parameter import ParameterDict
from mujoco.sysid._src.plotting import plot_sensor_comparison
from mujoco.sysid._src.plotting import render_rollout
from mujoco.sysid._src.residual import build_residual_fn
from mujoco.sysid._src.residual import BuildModelFn
from mujoco.sysid._src.residual import construct_ts_from_defaults
from mujoco.sysid._src.residual import CustomRolloutFn
from mujoco.sysid._src.residual import model_residual
from mujoco.sysid._src.residual import ModifyResidualFn
from mujoco.sysid._src.residual import residual
from mujoco.sysid._src.signal_modifier import apply_bias
from mujoco.sysid._src.signal_modifier import apply_delay
from mujoco.sysid._src.signal_modifier import apply_delayed_ts_window
from mujoco.sysid._src.signal_modifier import apply_gain
from mujoco.sysid._src.signal_modifier import apply_resample_and_delay
from mujoco.sysid._src.signal_modifier import get_sensor_indices
from mujoco.sysid._src.signal_modifier import normalize_residual
from mujoco.sysid._src.signal_modifier import weighted_diff
from mujoco.sysid._src.signal_transform import SignalTransform
from mujoco.sysid._src.timeseries import SignalType
from mujoco.sysid._src.timeseries import TimeSeries
from mujoco.sysid._src.trajectory import create_initial_state
from mujoco.sysid._src.trajectory import ModelSequences
from mujoco.sysid._src.trajectory import sysid_rollout
from mujoco.sysid._src.trajectory import SystemTrajectory
from mujoco.sysid.report.defaults import default_report
from mujoco.sysid.report.defaults import default_report_matplotlib
from mujoco.sysid._src import model_modifier as model_modifier
from mujoco.sysid._src import parameter as parameter
from mujoco.sysid._src import signal_modifier as signal_modifier
from mujoco.sysid._src.io import save_results as save_results
from mujoco.sysid._src.model_modifier import apply_body_inertia as apply_body_inertia
from mujoco.sysid._src.model_modifier import apply_dgain as apply_dgain
from mujoco.sysid._src.model_modifier import apply_param_modifiers as apply_param_modifiers
from mujoco.sysid._src.model_modifier import apply_param_modifiers_spec as apply_param_modifiers_spec
from mujoco.sysid._src.model_modifier import apply_pdgain as apply_pdgain
from mujoco.sysid._src.model_modifier import apply_pgain as apply_pgain
from mujoco.sysid._src.model_modifier import body_inertia_param as body_inertia_param
from mujoco.sysid._src.model_modifier import remove_visuals as remove_visuals
from mujoco.sysid._src.optimize import calculate_intervals as calculate_intervals
from mujoco.sysid._src.optimize import optimize as optimize
from mujoco.sysid._src.parameter import InertiaType as InertiaType
from mujoco.sysid._src.parameter import Parameter as Parameter
from mujoco.sysid._src.parameter import ParameterDict as ParameterDict
from mujoco.sysid._src.plotting import render_rollout as render_rollout
from mujoco.sysid._src.residual import build_residual_fn as build_residual_fn
from mujoco.sysid._src.residual import BuildModelFn as BuildModelFn
from mujoco.sysid._src.residual import construct_ts_from_defaults as construct_ts_from_defaults
from mujoco.sysid._src.residual import CustomRolloutFn as CustomRolloutFn
from mujoco.sysid._src.residual import model_residual as model_residual
from mujoco.sysid._src.residual import ModifyResidualFn as ModifyResidualFn
from mujoco.sysid._src.residual import residual as residual
from mujoco.sysid._src.signal_modifier import apply_bias as apply_bias
from mujoco.sysid._src.signal_modifier import apply_delay as apply_delay
from mujoco.sysid._src.signal_modifier import apply_delayed_ts_window as apply_delayed_ts_window
from mujoco.sysid._src.signal_modifier import apply_gain as apply_gain
from mujoco.sysid._src.signal_modifier import apply_resample_and_delay as apply_resample_and_delay
from mujoco.sysid._src.signal_modifier import get_sensor_indices as get_sensor_indices
from mujoco.sysid._src.signal_modifier import normalize_residual as normalize_residual
from mujoco.sysid._src.signal_modifier import weighted_diff as weighted_diff
from mujoco.sysid._src.signal_transform import SignalTransform as SignalTransform
from mujoco.sysid._src.timeseries import SignalType as SignalType
from mujoco.sysid._src.timeseries import TimeSeries as TimeSeries
from mujoco.sysid._src.trajectory import create_initial_state as create_initial_state
from mujoco.sysid._src.trajectory import ModelSequences as ModelSequences
from mujoco.sysid._src.trajectory import sysid_rollout as sysid_rollout
from mujoco.sysid._src.trajectory import SystemTrajectory as SystemTrajectory
from mujoco.sysid.report.defaults import default_report as default_report