20 lines
750 B
YAML
20 lines
750 B
YAML
# Rotary cartpole (Furuta pendulum) — robot hardware config.
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# Lives next to the URDF so all robot-specific settings are in one place.
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urdf: rotary_cartpole.urdf
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actuators:
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- joint: motor_joint
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type: motor # direct torque control
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gear: 0.064 # stall torque @ 58.8% PWM: 0.108 × 150/255 = 0.064 N·m
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ctrl_range: [-1.0, 1.0]
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damping: 0.003 # viscous back-EMF only (small)
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filter_tau: 0.03 # mechanical time constant ~30ms (37mm gearmotor)
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joints:
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motor_joint:
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armature: 0.0001 # reflected rotor inertia: ~1e-7 × 30² = 9e-5 kg·m²
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frictionloss: 0.03 # disabled — may slow MJX (constraint-based solver)
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pendulum_joint:
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damping: 0.0001 # bearing friction
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