furuta_pendulum
TODOs
- get pydrake 2D lqr cartpole running by itself
- get pydrake 2D cartpole w/ energy shaping state machine + lqr
- start to transfer over to moteus conversion w/ physical furuta pendulum
NOTES
- 0 position for motor is with the pendulum shaft in front of the weight self
- d rezero 0
- 0 encoder position for pendulum is upright, with +-0.5 being downward
- in sys model it's np.pi is upright
- needed to do 'sudo chmod 666 /dev/ttyACM0' to not need sudo for moteus so that pydrake and moteus can run in same script