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A simple physical robot embodiment for calibrating the minimal simulation. All components come with the Lego Mindstorms EV3 kit, and are shown on the left (2 large motors; 2 1x11 beams; 1 1x13 beam; 12 pins; 1 EV3 brick; 1 connector cable). To rotate the central motor to the desired position q, enough force must be added to u to counteract the weight of the second unused motor.
