# Tuned robot config — generated by src.sysid.optimize
# Original: robot.yaml
# Run `python -m src.sysid.visualize` to compare real vs sim.

urdf: rotary_cartpole_tuned.urdf
actuators:
- joint: motor_joint
  type: motor
  gear:
  - 0.846499
  - 1.183733
  ctrl_range:
  - -0.686251
  - 0.686251
  deadzone:
  - 0.181097
  - 0.202072
  damping:
  - 0.013165
  - 0.015452
  frictionloss:
  - 0.014244
  - 0.001005
  filter_tau: 0.096263
  stribeck_friction_boost: 0.068594
  stribeck_vel: 5.279594
  action_bias: 0.056566
joints:
  motor_joint:
    armature: 0.001676
    frictionloss: 0.0
  pendulum_joint:
    damping: 1.2e-05
    frictionloss: 7.2e-05