24 lines
616 B
YAML
24 lines
616 B
YAML
# Tuned motor config — generated by src.sysid.motor.optimize
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# Original: robot.yaml
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mjcf: motor_tuned.xml
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joints:
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motor_joint:
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armature: 0.002753
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frictionloss: 0.052913
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hardware_realism:
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actuator_gear_pos: 0.371194
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actuator_gear_neg: 0.428143
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motor_damping_pos: 0.001384
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motor_damping_neg: 0.005196
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motor_frictionloss_pos: 0.036744
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motor_frictionloss_neg: 0.069082
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motor_deadzone_pos: 0.14182
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motor_deadzone_neg: 0.031454
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action_bias: -0.007363
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viscous_quadratic: 0.000958
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back_emf_gain: 0.003649
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stribeck_friction_boost: 0.044748
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stribeck_vel: 4.05134
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gearbox_backlash: 0.0
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