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