Haja10 — Updated

If the app updated automatically and stopped working:

The Acrobot dynamics are derived using the Euler-Lagrange formulation. The state vector is defined as $x = [q_1, q_2, \dotq_1, \dotq_2]^T$, where $q_1$ is the angle of the first link relative to vertical, and $q_2$ is the angle of the second link relative to the first.

The dynamics are governed by: $$ M(q)\ddotq + C(q, \dotq)\dotq + G(q) = \tau u $$ Where: haja10 updated

Fix: Due to API v3 changes, older plugins must be updated by their developers. Check the plugin’s page for a “v3 compatible” badge. Meanwhile, you can enable legacy mode under Settings > Advanced > Enable Plugin Compatibility Shim. Note: Legacy mode will be removed in v10.2.

Fix: Go to Settings > Sync > Reset Sync State. This does not delete your files; it only refreshes the metadata index. If the app updated automatically and stopped working:

It’s been a while.

If you’ve been following along, you know that haja10 started as a small side project — a lightweight tool to [insert what it does, e.g., automate file renaming / track personal habits / generate dev logs]. Over time, it grew beyond my original expectations. And like most things that grow, it also started showing its age. Haja et al

So I finally sat down and gave haja10 a proper update.

Underactuated mechanical systems (UMS) are systems with fewer actuators than degrees of freedom. The Acrobot is a benchmark problem in this domain, resembling a human gymnast swinging on a high bar. The system is acutated only at the joint between the two links, with the first joint (the "shoulder") remaining passive.

The control objective is twofold:

Haja et al. (2010) provided a comprehensive framework that solves the "switching" problem, ensuring a smooth transition between these two phases.