✨ clean up lot of stuff

assets/rotary_cartpole/robot.yaml

@@ -1,20 +1,21 @@
 # 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
-  gear: 0.176692
-  ctrl_range:
-  - -1.0
-  - 1.0
-  damping: 0.009505
-  filter_tau: 0.040906
+  gear: [0.424182, 0.425031]          # torque constant [pos, neg] (motor sysid)
+  ctrl_range: [-0.592, 0.592]         # effective control bound (sysid-tuned)
+  deadzone: [0.141291, 0.078015]      # L298N min |ctrl| for torque [pos, neg]
+  damping: [0.002027, 0.014665]       # viscous damping [pos, neg]
+  frictionloss: [0.057328, 0.053355]  # Coulomb friction [pos, neg]
+  filter_tau: 0.005035                # 1st-order actuator filter (motor sysid)
+  viscous_quadratic: 0.000285         # velocity² drag
+  back_emf_gain: 0.006758             # back-EMF torque reduction
 joints:
   motor_joint:
-    armature: 0.001389
-    frictionloss: 0.002179
+    armature: 0.002773                # reflected rotor inertia (motor sysid)
+    frictionloss: 0.0                 # handled by motor model via qfrc_applied
   pendulum_joint:
-    damping: 6.1e-05
+    damping: 0.000119
+    frictionloss: 1.0e-05