22 lines
953 B
YAML
22 lines
953 B
YAML
# Tuned robot config — generated by src.sysid.optimize
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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
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gear: [0.424182, 0.425031] # torque constant [pos, neg] (motor sysid)
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ctrl_range: [-0.592, 0.592] # effective control bound (sysid-tuned)
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deadzone: [0.141291, 0.078015] # L298N min |ctrl| for torque [pos, neg]
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damping: [0.002027, 0.014665] # viscous damping [pos, neg]
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frictionloss: [0.057328, 0.053355] # Coulomb friction [pos, neg]
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filter_tau: 0.005035 # 1st-order actuator filter (motor sysid)
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viscous_quadratic: 0.000285 # velocity² drag
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back_emf_gain: 0.006758 # back-EMF torque reduction
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joints:
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motor_joint:
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armature: 0.002773 # reflected rotor inertia (motor sysid)
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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: 0.000119
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frictionloss: 1.0e-05
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