Created
December 23, 2017 08:13
-
-
Save rhaps0dy/6e0906e747ffb913c678e1bbab3a0823 to your computer and use it in GitHub Desktop.
Bullet CartPole simulation files
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
<mujoco model="inverted pendulum"> | |
<compiler inertiafromgeom="true"/> | |
<default> | |
<joint pos="0 0 0" armature="0" damping="0" frictionloss="0" limited="true"/> | |
<geom pos="0 0 0" contype="0" conaffinity="0" friction="0 0 0" | |
rgba="0.7 0.7 0 1"/> | |
<tendon/> | |
<motor ctrlrange="-1 1" ctrllimited="true"/> | |
</default> | |
<option gravity="0 0 -9.81" integrator="RK4" timestep="0.02"/> | |
<size nstack="3000"/> | |
<worldbody> | |
<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 2" type="capsule"/> | |
<body pos="0 0 0" name="cart"> | |
<joint name="slider" axis="1 0 0" range="-2 2" frictionloss="0.0105" | |
type="slide"/> | |
<geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" | |
type="capsule"/> | |
<inertial pos="0 0 0" mass="0.5" diaginertia="1 1 1"/> | |
<body pos="0 0 0" name="pole"> | |
<joint axis="0 1 0" name="hinge" limited="false" type="hinge"/> | |
<!-- Bullet re-centers the capsule, so we need to specify it centered in | |
order to have Bullet and MuJoCo do the same thing --> | |
<geom fromto="0 0 -0.25 0 0 0.25" pos="0 0 0.25" name="cpole" rgba="0 0.7 0.7 1" | |
size="0.05 0.5" type="capsule"/> | |
<inertial pos="0 0 0.25" mass="0.5" diaginertia="0.01042 0.01042 6.3e-6"/> | |
</body> | |
</body> | |
</worldbody> | |
<actuator> | |
<motor gear="100" joint="slider" name="m_slider"/> | |
</actuator> | |
</mujoco> | |
<!-- Initial state: [slider, slider_vel, hinge, hinge_vel] = [0.2076, 0.0233, -3.2284, -0.1377] --> |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment