pydrake.multibody.benchmarks.acrobot

class pydrake.multibody.benchmarks.acrobot.AcrobotParameters

This class is used to store the numerical parameters defining the model of an acrobot with the method MakeAcrobotPlant(). Refer to this the documentation of this class’s constructor for further details on the parameters stored by this class and their default values.

Note

The default constructor initializes the parameters in accordance to the acrobot.sdf file in this same directory. Therefore this file and acrobot.sdf MUST be kept in sync.

__init__(self: pydrake.multibody.benchmarks.acrobot.AcrobotParameters) → None

This class is used to store the numerical parameters defining the model of an acrobot with the method MakeAcrobotPlant(). Refer to this the documentation of this class’s constructor for further details on the parameters stored by this class and their default values.

Note

The default constructor initializes the parameters in accordance to the acrobot.sdf file in this same directory. Therefore this file and acrobot.sdf MUST be kept in sync.

pydrake.multibody.benchmarks.acrobot.MakeAcrobotPlant(default_parameters: pydrake.multibody.benchmarks.acrobot.AcrobotParameters, finalize: bool, scene_graph: pydrake.geometry.SceneGraph = None) → pydrake.multibody.plant.MultibodyPlant

This method makes a MultibodyPlant model of the Acrobot - a canonical underactuated system as described in <a href=”http://underactuated.mit.edu/underactuated.html?chapter=3”>Chapter 3 of Underactuated Robotics</a>.

Parameter default_parameters:

Default parameters of the model set at construction. These parameters include masses, link lengths, rotational inertias, etc. Refer to the documentation of AcrobotParameters for further details.

Parameter finalize:

If True, MultibodyPlant::Finalize() gets called on the new plant.

Parameter scene_graph:

If a SceneGraph is provided with this argument, this factory method will register the new multibody plant to be a source for that geometry system and it will also register geometry for visualization. If this argument is omitted, no geometry will be registered.