How to make sense of the continuous_state vector?
Background I am trying to balance a mobile inverted pendulum (i.e. segway). For the simulation, I created a simple robot that involves a pole attached to a cylinder (wheel) through a revolute joint. Question After constructing my MIP plant, plant.num_positions() returns 8 and plant.num_velocities() returns 7 , i.e. the total continuous_state size is 15 How do I make sense of this large number of states? I suppose one of these represents the angle that the pole makes with the vertical. How do I find that? Also, why is num_positions() not equal to num_velocities() ? By default, the urdf/sdf