Victor Mylle
8ed9afe583
All 28 params tuned jointly. Now includes stribeck_friction_boost, stribeck_vel, action_bias. Points to rotary_cartpole_tuned.urdf.
24 lines
1.1 KiB
YAML
24 lines
1.1 KiB
YAML
# Tuned robot config — generated by src.sysid (2026-03-28)
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# Unified sysid: cost 0.925 (28 params, 0.2s windows, amplitude 200)
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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: [0.846499, 1.183733] # torque constant [pos, neg]
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ctrl_range: [-0.686251, 0.686251] # effective control bound
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deadzone: [0.181097, 0.202072] # L298N min |ctrl| for torque [pos, neg]
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damping: [0.013165, 0.015452] # viscous damping [pos, neg]
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frictionloss: [0.014244, 0.001005] # Coulomb friction [pos, neg]
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filter_tau: 0.096263 # 1st-order actuator filter
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stribeck_friction_boost: 0.068594 # low-velocity friction boost
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stribeck_vel: 5.279594 # Stribeck velocity scale (rad/s)
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action_bias: 0.056566 # asymmetric bias offset
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joints:
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motor_joint:
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armature: 0.001676 # reflected rotor inertia
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frictionloss: 0.0 # handled by motor model via qfrc_applied
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pendulum_joint:
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damping: 1.2e-05 # pendulum pivot damping
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frictionloss: 7.2e-05 # pendulum pivot friction
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