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✨ remove custom ema and use mujoco motor control

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Victor Mylle
2026-03-09 22:47:57 +01:00
parent 9813319275
commit 0f13086fee
7 changed files with 45 additions and 43 deletions
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5
assets/rotary_cartpole/robot.yaml
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@@ -6,9 +6,10 @@ urdf: rotary_cartpole.urdf
actuators:
- joint: motor_joint
type: motor # direct torque control
gear: 0.5 # torque multiplier
gear: 0.1 # torque multiplier (was 0.5 — too weak, caused bang-bang)
ctrl_range: [-1.0, 1.0]
damping: 0.1 # motor friction / back-EMF
damping: 0.02 # motor friction / back-EMF (was 0.1 — ate torque budget)
filter_tau: 0.18 # 1st-order filter ~180ms (models motor inertia)
joints:
pendulum_joint: