♻️ crazy refactor

assets/rotary_cartpole/robot.yaml

@@ -1,19 +1,20 @@
-# Rotary cartpole (Furuta pendulum) — robot hardware config.
-# Lives next to the URDF so all robot-specific settings are in one place.
+# Tuned robot config — generated by src.sysid.optimize
+# Original: robot.yaml
+# Run `python -m src.sysid.visualize` to compare real vs sim.
 
 urdf: rotary_cartpole.urdf
-
 actuators:
-  - joint: motor_joint
-    type: motor            # direct torque control
-    gear: 0.064            # stall torque @ 58.8% PWM: 0.108 × 150/255 = 0.064 N·m
-    ctrl_range: [-1.0, 1.0]
-    damping: 0.003         # viscous back-EMF only (small)
-    filter_tau: 0.03       # mechanical time constant ~30ms (37mm gearmotor)
-
+- joint: motor_joint
+  type: motor
+  gear: 0.176692
+  ctrl_range:
+  - -1.0
+  - 1.0
+  damping: 0.009505
+  filter_tau: 0.040906
 joints:
   motor_joint:
-    armature: 0.0001       # reflected rotor inertia: ~1e-7 × 30² = 9e-5 kg·m²
-    frictionloss: 0.03   # disabled — may slow MJX (constraint-based solver)
+    armature: 0.001389
+    frictionloss: 0.002179
   pendulum_joint:
-    damping: 0.0001        # bearing friction
+    damping: 6.1e-05