38 lines
1.4 KiB
XML
38 lines
1.4 KiB
XML
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<mujoco model="cart-pole">
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<include file="./common/skybox.xml"/>
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<include file="./common/visual.xml"/>
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<include file="./common/materials.xml"/>
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<option timestep="0.01" integrator="RK4">
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<flag contact="disable" energy="enable"/>
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</option>
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<default>
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<default class="pole">
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<joint type="hinge" axis="0 1 0" damping="2e-6"/>
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<geom type="capsule" fromto="0 0 0 0 0 1" size="0.045" material="self" mass=".1"/>
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</default>
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</default>
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<worldbody>
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<light name="light" pos="0 0 6"/>
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<camera name="fixed" pos="0 -4 1" zaxis="0 -1 0"/>
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<camera name="lookatcart" mode="targetbody" target="cart" pos="0 -2 2"/>
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<geom name="floor" pos="0 0 -.05" size="4 4 .2" type="plane" material="grid"/>
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<geom name="rail1" type="capsule" pos="0 .07 1" zaxis="1 0 0" size="0.02 2" material="decoration" />
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<geom name="rail2" type="capsule" pos="0 -.07 1" zaxis="1 0 0" size="0.02 2" material="decoration" />
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<body name="cart" pos="0 0 1">
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<joint name="slider" type="slide" limited="true" axis="1 0 0" range="-1.8 1.8" solreflimit=".08 1" damping="5e-4"/>
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<geom name="cart" type="box" size="0.2 0.15 0.1" material="self" mass="1"/>
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<body name="pole_1" childclass="pole">
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<joint name="hinge_1"/>
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<geom name="pole_1"/>
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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 name="slide" joint="slider" gear="10" ctrllimited="true" ctrlrange="-1 1" />
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</actuator>
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</mujoco>
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