# 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: 0.5              # torque multiplier
    ctrl_range: [-1.0, 1.0]
    damping: 0.1           # motor friction / back-EMF

joints:
  pendulum_joint:
    damping: 0.0001        # bearing friction