mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-16 14:40:05 +00:00
47 lines
1.9 KiB
XML
47 lines
1.9 KiB
XML
|
<!-- Cartpole Model
|
||
|
|
||
|
The state space is populated with joints in the order that they are
|
||
|
defined in this file. The actuators also operate on joints.
|
||
|
|
||
|
State-Space (name/joint/parameter):
|
||
|
- cart slider position (m)
|
||
|
- pole hinge angle (rad)
|
||
|
- cart slider velocity (m/s)
|
||
|
- pole hinge angular velocity (rad/s)
|
||
|
|
||
|
Actuators (name/actuator/parameter):
|
||
|
- cart motor force x (N)
|
||
|
|
||
|
-->
|
||
|
<mujoco model="cartpole">
|
||
|
<compiler coordinate="local" inertiafromgeom="true"/>
|
||
|
<custom>
|
||
|
<numeric data="2" name="frame_skip"/>
|
||
|
</custom>
|
||
|
<default>
|
||
|
<joint damping="0.05"/>
|
||
|
<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
|
||
|
</default>
|
||
|
<option gravity="1e-5 0 -9.81" integrator="RK4" timestep="0.01"/>
|
||
|
<size nstack="3000"/>
|
||
|
<worldbody>
|
||
|
<geom name="floor" pos="0 0 -3.0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
|
||
|
<geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 1" type="capsule"/>
|
||
|
<body name="cart" pos="0 0 0">
|
||
|
<joint axis="1 0 0" limited="true" margin="0.01" name="slider" pos="0 0 0" range="-1 1" type="slide"/>
|
||
|
<geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule"/>
|
||
|
<body name="pole" pos="0 0 0">
|
||
|
<joint axis="0 1 0" name="hinge" pos="0 0 0" type="hinge"/>
|
||
|
<geom fromto="0 0 0 0 0 0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.045 0.3" type="capsule"/>
|
||
|
<body name="pole2" pos="0 0 0.6">
|
||
|
<joint axis="0 1 0" name="hinge2" pos="0 0 0" type="hinge"/>
|
||
|
<geom fromto="0 0 0 0 0 0.6" name="cpole2" rgba="0 0.7 0.7 1" size="0.045 0.3" type="capsule"/>
|
||
|
<site name="tip" pos="0 0 .6" size="0.01 0.01"/>
|
||
|
</body>
|
||
|
</body>
|
||
|
</body>
|
||
|
</worldbody>
|
||
|
<actuator>
|
||
|
<motor ctrllimited="true" ctrlrange="-1 1" gear="500" joint="slider" name="slide"/>
|
||
|
</actuator>
|
||
|
</mujoco>
|