21 lines
419 B
YAML
21 lines
419 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.urdf
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actuators:
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- joint: motor_joint
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type: motor
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gear: 0.176692
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ctrl_range:
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- -1.0
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- 1.0
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damping: 0.009505
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filter_tau: 0.040906
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joints:
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motor_joint:
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armature: 0.001389
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frictionloss: 0.002179
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pendulum_joint:
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damping: 6.1e-05
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