L1 · Supplementary notes and code
The L1 lesson contains the full explanation, videos, validation results, and exercises. This page provides notes organized by topic and links for running or inspecting the experiment.
Look up a topic
- The machine and its dynamics
- From position command to torque
- Fitting, validation, and phase error
- Exercises and the scope of the result
Inspect the results
The delay report and friction report include parameters, plots, errors, and experiment conditions. Download the delay notebook or friction notebook to inspect each computation step by step.
Run an experiment
Running the code requires a basic Python environment. The experiment uses a CPU and needs no robot middleware or GPU. From the repository root:
python -m pip install -r requirements-interactive.txt
python -m synthetic.l1_servo_loaded_pendulum --output-dir reports/l1_servo_loaded_pendulum
python -m synthetic.l1_friction --output-dir reports/l1_friction
python -m marimo run apps/l1_servo_loaded_pendulum.py --host 0.0.0.0 --port 2719
The end of the lesson guides the app exercise. Predict how the curves will change before adjusting a parameter, then compare fitting and validation after running it.
Reproduction record
The engineering verification record keeps experiment checks, reproduction commands, and learner feedback tasks for inspecting the implementation.