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- <!-- 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>
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