# Tuned robot config — generated by src.sysid (2026-03-28)
# Motor params: motor-only sysid cost 0.2117
# Full-system params: sysid cost 1.216 (0.2s windows, amplitude 200)

urdf: rotary_cartpole.urdf
actuators:
- joint: motor_joint
  type: motor
  gear: [0.371194, 0.428143]          # torque constant [pos, neg] (motor sysid)
  ctrl_range: [-0.611479, 0.611479]   # effective control bound (full sysid)
  deadzone: [0.141820, 0.031454]      # L298N min |ctrl| for torque [pos, neg]
  damping: [0.001384, 0.005196]       # viscous damping [pos, neg]
  frictionloss: [0.036744, 0.069082]  # Coulomb friction [pos, neg]
  filter_tau: 0.022301                # 1st-order actuator filter (motor sysid)
joints:
  motor_joint:
    armature: 0.002753                # reflected rotor inertia (motor sysid)
    frictionloss: 0.0                 # handled by motor model via qfrc_applied
  pendulum_joint:
    damping: 1.3e-06                  # full sysid (was 0.000119)
    frictionloss: 3.7e-06             # full sysid (was 1.0e-05)