# Tuned motor config — generated by src.sysid.motor.optimize
# Original: robot.yaml

mjcf: motor_tuned.xml
joints:
  motor_joint:
    armature: 0.002753
    frictionloss: 0.052913
hardware_realism:
  actuator_gear_pos: 0.371194
  actuator_gear_neg: 0.428143
  motor_damping_pos: 0.001384
  motor_damping_neg: 0.005196
  motor_frictionloss_pos: 0.036744
  motor_frictionloss_neg: 0.069082
  motor_deadzone_pos: 0.14182
  motor_deadzone_neg: 0.031454
  action_bias: -0.007363
  viscous_quadratic: 0.000958
  back_emf_gain: 0.003649
  stribeck_friction_boost: 0.044748
  stribeck_vel: 4.05134
  gearbox_backlash: 0.0