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Accept custom gravity strength in elevator and arm simulators #7559

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calcmogul opened this issue Dec 17, 2024 · 3 comments
Open

Accept custom gravity strength in elevator and arm simulators #7559

calcmogul opened this issue Dec 17, 2024 · 3 comments
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2027 2027 target type: feature Brand new functionality, features, pages, workflows, endpoints, etc.

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@calcmogul
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This allows simulating tilted elevators and arms, including ones that translate/rotate in the x-y plane.
@calcmogul calcmogul added 2027 2027 target type: feature Brand new functionality, features, pages, workflows, endpoints, etc. labels Dec 17, 2024
@narmstro2020
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Wouldn't hurt to allow for arm MOI around different pivot locations.

@calcmogul
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calcmogul commented Dec 18, 2024 •
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The arm pivot in this model doesn't translate. If it did, what you'd actually have is more like a cart-pole: https://underactuated.mit.edu/acrobot.html#cart_pole

@narmstro2020
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Oh I’m sorry I meant on system construction. Right now it assume the pivot is at the exact opposite end

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