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cartpole.xml
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<!-- Cartpole Model
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='test_cartpole'>
<compiler inertiafromgeom='true' coordinate='local'/>
<size nkey="1"/>
<custom>
<numeric name="control_timestep" data="0.04" />
<numeric name="three_numbers" data="1.0 2.0 3.0" />
</custom>
<option timestep='0.01'/>
<default>
<joint damping='0.05' solreflimit='.08 1'/>
<geom contype='0' friction='1 0.1 0.1'/>
</default>
<worldbody>
<camera name='fixed' pos='0 -2.5 0' quat='0.707 0.707 0 0'/>
<geom name='floor' pos='0 0 -1' size='4 4 4' type='plane' />
<geom name='rail1' type='capsule' pos='0 .07 0' quat='0.707 0 0.707 0'
size='0.02 1.2' />
<geom name='rail2' type='capsule' pos='0 -.07 0' quat='0.707 0 0.707 0'
size='0.02 1.2' />
<body name='cart' pos='0 0 0'>
<camera name='cart' pos='0 -2.5 0' quat='0.707 0.707 0 0' />
<joint name='slider' type='slide' limited='true' pos='0 0 0'
axis='1 0 0' range='-1 1' />
<geom name='cart' type='box' pos='0 0 0'
size='0.2 0.1 0.05' rgba='0.7 0.7 0 1' />
<site name='cart sensor' type='box' pos='0 0 0'
size='0.2 0.1 0.05' rgba='0.7 0.7 0 0' />
<body name='pole' pos='0 0 0'>
<camera name='pole' pos='0 -2.5 0' quat='0.707 0.707 0 0' />
<joint name='hinge' type='hinge' pos='0 0 0' axis='0 1 0'/>
<geom name='cpole' type='capsule' fromto='0 0 0 0 0 0.6'
size='0.045 0.3' rgba='0 0.7 0.7 1' />
<site type='sphere' size='.01' name='tip' pos='.001 0 .6'/>
</body>
</body>
<body name='mocap1' pos='1 0 0.5' mocap='true'>
<geom name='mocap_cube' type='box' size='0.05 0.05 0.05' rgba='1 0 0 0.5'/>
</body>
<body name='mocap2' pos='-1 0 0.5' mocap='true'>
<geom name='mocap_sphere' type='sphere' size='0.05' rgba='0 1 0 0.5'/>
</body>
</worldbody>
<actuator>
<motor name='slide' joint='slider' gear='50' ctrllimited='true' ctrlrange='-1 1' />
</actuator>
<sensor>
<accelerometer name="accelerometer" site="cart sensor"/>
<touch name="collision" site="cart sensor"/>
</sensor>
<keyframe>
<key name="hanging_down" qpos="0 1.57"/>
</keyframe>
</mujoco>