namespace: drake::examples::acrobot
elements:
# Note: default parameter values are taken from:
#   Spong, Mark W. Swing up control of the acrobot. Robotics and Automation,
#   1994. Proceedings., 1994 IEEE International Conference on. IEEE, 1994.
  -
    name: m1
    doc: Mass of link 1.
    doc_units: kg
    default_value: 1.0
    min_value: 0.0
  -
    name: m2
    doc: Mass of link 2.
    doc_units: kg
    default_value: 1.0
    min_value: 0.0
  -
    name: l1
    doc: Length of link 1.
    doc_units: m
    default_value: 1.0
    min_value: 0.0
  -
    name: l2
    doc: Length of link 2.
    doc_units: m
    default_value: 2.0
    min_value: 0.0
  -
    name: lc1
    doc: Vertical distance from shoulder joint to center of mass of link 1.
    doc_units: m
    default_value: 0.5
    min_value: 0.0
  -
    name: lc2
    doc: Vertical distance from elbow joint to center of mass of link 1.
    doc_units: m
    default_value: 1.0
    min_value: 0.0
  -
    name: Ic1
    doc: Inertia of link 1 about the center of mass of link 1.
    doc_units: kg*m^2
    default_value: 0.083
    min_value: 0.0
  -
    name: Ic2
    doc: Inertia of link 2 about the center of mass of link 2.
    doc_units: kg*m^2
    default_value: 0.33
    min_value: 0.0
  -
    name: b1
    doc: Damping coefficient of the shoulder joint.
    doc_units: kg*m^2/s
    default_value: 0.1
    min_value: 0.0
  -
    name: b2
    doc: Damping coefficient of the elbow joint.
    doc_units: kg*m^2/s
    default_value: 0.1
    min_value: 0.0
  -
    name: gravity
    doc: Gravitational constant.
    doc_units: m/s^2
    default_value: 9.81
    min_value: 0.0