17 lines
600 B
YAML
17 lines
600 B
YAML
# 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
|