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✨ update motor friction

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Victor Mylle
2026-03-09 23:37:10 +01:00
parent 0f13086fee
commit 35223b3560
4 changed files with 32 additions and 18 deletions
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9
assets/rotary_cartpole/robot.yaml
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@@ -6,11 +6,14 @@ urdf: rotary_cartpole.urdf
actuators:
- joint: motor_joint
type: motor # direct torque control
gear: 0.1 # torque multiplier (was 0.5 — too weak, caused bang-bang)
gear: 0.064 # stall torque @ 58.8% PWM: 0.108 × 150/255 = 0.064 N·m
ctrl_range: [-1.0, 1.0]
damping: 0.02 # motor friction / back-EMF (was 0.1 — ate torque budget)
filter_tau: 0.18 # 1st-order filter ~180ms (models motor inertia)
damping: 0.003 # viscous back-EMF only (small)
filter_tau: 0.03 # mechanical time constant ~30ms (37mm gearmotor)
joints:
motor_joint:
armature: 0.0001 # reflected rotor inertia: ~1e-7 × 30² = 9e-5 kg·m²
frictionloss: 0.03 # disabled — may slow MJX (constraint-based solver)
pendulum_joint:
damping: 0.0001 # bearing friction