# Tuned robot config — generated by src.sysid (2026-03-28)
# Unified sysid: cost 0.925 (28 params, 0.2s windows, amplitude 200)

urdf: rotary_cartpole_tuned.urdf
actuators:
- joint: motor_joint
  type: motor
  gear: [0.846499, 1.183733]          # torque constant [pos, neg]
  ctrl_range: [-0.686251, 0.686251]   # effective control bound
  deadzone: [0.181097, 0.202072]      # L298N min |ctrl| for torque [pos, neg]
  damping: [0.013165, 0.015452]       # viscous damping [pos, neg]
  frictionloss: [0.014244, 0.001005]  # Coulomb friction [pos, neg]
  filter_tau: 0.096263                # 1st-order actuator filter
  stribeck_friction_boost: 0.068594   # low-velocity friction boost
  stribeck_vel: 5.279594              # Stribeck velocity scale (rad/s)
  action_bias: 0.056566               # asymmetric bias offset
joints:
  motor_joint:
    armature: 0.001676                # reflected rotor inertia
    frictionloss: 0.0                 # handled by motor model via qfrc_applied
  pendulum_joint:
    damping: 1.2e-05                  # pendulum pivot damping
    frictionloss: 7.2e-05             # pendulum pivot friction