65 lines
2.3 KiB
Python
65 lines
2.3 KiB
Python
"""Unified CLI for motor-only system identification.
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Usage:
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python scripts/motor_sysid.py capture --duration 20
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python scripts/motor_sysid.py optimize --recording assets/motor/recordings/<file>.npz
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python scripts/motor_sysid.py visualize --recording assets/motor/recordings/<file>.npz
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python scripts/motor_sysid.py export --result assets/motor/motor_sysid_result.json
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"""
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from __future__ import annotations
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import sys
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from pathlib import Path
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# Ensure project root is on sys.path
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_PROJECT_ROOT = str(Path(__file__).resolve().parent.parent)
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if _PROJECT_ROOT not in sys.path:
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sys.path.insert(0, _PROJECT_ROOT)
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def main() -> None:
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if len(sys.argv) < 2 or sys.argv[1] in ("-h", "--help"):
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print(
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"Motor System Identification\n"
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"===========================\n"
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"Usage: python scripts/motor_sysid.py <command> [options]\n"
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"\n"
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"Commands:\n"
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" capture Record motor trajectory under PRBS excitation\n"
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" optimize Run CMA-ES to fit motor parameters\n"
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" visualize Plot real vs simulated motor response\n"
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" export Write tuned MJCF + robot.yaml files\n"
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"\n"
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"Workflow:\n"
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" 1. Flash sysid firmware to ESP32 (motor-only, no limits)\n"
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" 2. python scripts/motor_sysid.py capture --duration 20\n"
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" 3. python scripts/motor_sysid.py optimize --recording <file>.npz\n"
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" 4. python scripts/motor_sysid.py visualize --recording <file>.npz\n"
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"\n"
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"Run '<command> --help' for command-specific options."
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)
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sys.exit(0)
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command = sys.argv[1]
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sys.argv = [f"motor_sysid {command}"] + sys.argv[2:]
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if command == "capture":
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from src.sysid.motor.capture import main as cmd_main
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elif command == "optimize":
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from src.sysid.motor.optimize import main as cmd_main
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elif command == "visualize":
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from src.sysid.motor.visualize import main as cmd_main
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elif command == "export":
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from src.sysid.motor.export import main as cmd_main
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else:
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print(f"Unknown command: {command}")
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print("Available commands: capture, optimize, visualize, export")
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sys.exit(1)
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cmd_main()
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if __name__ == "__main__":
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main()
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