# 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: 0.064            # 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)

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)
  pendulum_joint:
    damping: 0.0001        # bearing friction