# Rotary cartpole (Furuta pendulum) — robot hardware config.
# Lives next to the URDF so all robot-specific settings are in one place.

urdf: rotary_cartpole.urdf

actuators:
  - joint: motor_joint
    type: motor            # direct torque control
    gear: 0.1           # torque multiplier (was 0.5 — too weak, caused bang-bang)
    ctrl_range: [-1.0, 1.0]
    damping: 0.02          # motor friction / back-EMF (was 0.1 — ate torque budget)
    filter_tau: 0.18       # 1st-order filter ~180ms (models motor inertia)

joints:
  pendulum_joint:
    damping: 0.0001        # bearing friction