# 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
joints:
  motor_joint:
    armature: 0.001389
    frictionloss: 0.002179
  pendulum_joint:
    damping: 6.1e-05