# Tuned robot config — generated by src.sysid.optimize

urdf: rotary_cartpole.urdf
actuators:
- joint: motor_joint
  type: motor
  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: 0.002773                # reflected rotor inertia (motor sysid)
    frictionloss: 0.0                 # handled by motor model via qfrc_applied
  pendulum_joint:
    damping: 0.000119
    frictionloss: 1.0e-05