compass_gait_params_named_vector.yaml

namespace: drake::examples::compass_gait
elements:
  -
    name: mass_hip
    doc: Point mass at the hip.
    doc_units: kg
    default_value: 10.0
    min_value: 0.0
  -
    name: mass_leg
    doc: Mass of each leg (modeled as a point mass at the center of mass).
    doc_units: kg
    default_value: 5.0
    min_value: 0.0
  -
    name: length_leg
    doc: The length of each leg.
    doc_units: m
    default_value: 1.0
    min_value: 0.0
  -
    name: center_of_mass_leg
    doc: Distance from the hip to the center of mass of each leg.
    doc_units: m
    default_value: .5
    min_value: 0.0
  -
    name: gravity
    doc: An approximate value for gravitational acceleration.
    doc_units: m/s^2
    default_value: 9.81
    min_value: 0.0
  -
    name: slope
    doc: The angle of the ramp on which the compass gait is walking.  Must have 0 <= slope < PI/2 so that forward == downhill (an assumption used in the foot collision witness function).
    doc_units: radians
    default_value: 0.0525
    min_value: 0.0
    max_value: 1.5707