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