35 lines
655 B
YAML
35 lines
655 B
YAML
# Tuned robot config — generated by src.sysid.optimize
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# Original: robot.yaml
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# Run `python -m src.sysid.visualize` to compare real vs sim.
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urdf: rotary_cartpole_tuned.urdf
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actuators:
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- joint: motor_joint
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type: motor
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gear:
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- 0.846499
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- 1.183733
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ctrl_range:
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- -0.686251
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- 0.686251
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deadzone:
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- 0.181097
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- 0.202072
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damping:
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- 0.013165
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- 0.015452
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frictionloss:
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- 0.014244
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- 0.001005
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filter_tau: 0.096263
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stribeck_friction_boost: 0.068594
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stribeck_vel: 5.279594
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action_bias: 0.056566
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joints:
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motor_joint:
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armature: 0.001676
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frictionloss: 0.0
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pendulum_joint:
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damping: 1.2e-05
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frictionloss: 7.2e-05
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