✨ update urdf and dependencies

2026-03-09 20:39:02 +01:00
parent c753c369b4
commit 15da0ef2fd
11 changed files with 204 additions and 57 deletions
--- a/src/core/env.py
+++ b/src/core/env.py
@@ -17,6 +17,7 @@ class ActuatorConfig:
    joint: str = ""
    gear: float = 1.0
    ctrl_range: tuple[float, float] = (-1.0, 1.0)
+    damping: float = 0.05  # joint damping — limits max speed: vel_max ≈ torque / damping


@dataclasses.dataclass