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Running
Running
| <mujoco model="inverted pendulum"> | |
| <compiler inertiafromgeom="true"/> | |
| <default> | |
| <joint armature="0" damping="1" limited="true"/> | |
| <geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/> | |
| <tendon/> | |
| <motor ctrlrange="-3 3"/> | |
| </default> | |
| <option gravity="0 0 -9.81" integrator="RK4" timestep="0.02"/> | |
| <size nstack="3000"/> | |
| <worldbody> | |
| <!--geom name="ground" type="plane" pos="0 0 0" /--> | |
| <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" 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" range="-90 90" type="hinge"/> | |
| <geom fromto="0 0 0 0.001 0 0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.049 0.3" type="capsule"/> | |
| <!-- <body name="pole2" pos="0.001 0 0.6"><joint name="hinge2" type="hinge" pos="0 0 0" axis="0 1 0"/><geom name="cpole2" type="capsule" fromto="0 0 0 0 0 0.6" size="0.05 0.3" rgba="0.7 0 0.7 1"/><site name="tip2" pos="0 0 .6"/></body>--> | |
| </body> | |
| </body> | |
| </worldbody> | |
| <actuator> | |
| <motor ctrllimited="true" ctrlrange="-3 3" gear="100" joint="slider" name="slide"/> | |
| </actuator> | |
| </mujoco> |