16 lines
454 B
YAML
16 lines
454 B
YAML
# Rotary cartpole (Furuta pendulum) — robot hardware config.
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# Lives next to the URDF so all robot-specific settings are in one place.
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urdf: rotary_cartpole.urdf
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actuators:
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- joint: motor_joint
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type: motor # direct torque control
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gear: 0.5 # torque multiplier
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ctrl_range: [-1.0, 1.0]
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damping: 0.1 # motor friction / back-EMF
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joints:
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pendulum_joint:
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damping: 0.0001 # bearing friction
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