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