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acrobot_params_named_vector.yaml
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acrobot_params_named_vector.yaml
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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