Genetic-Algorithm-Optimized-PID/cartpole.xml at main · ErroujiOussama/Genetic-Algorithm-Optimized-PID · GitHub

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<mujoco model="cartpole">
  <option timestep="0.01" integrator="RK4" gravity="0 0 -9.81"/>

  <default>
    <joint damping="0.05" armature="0.01"/>
    <geom condim="3" friction="0.8 0.1 0.1"/>
  </default>

  <worldbody>
    <light pos="0 0 3" dir="0 0 -1"/>
    <geom name="floor" type="plane" size="10 10 0.1" rgba=".9 .9 .9 1"/>

    <!-- Cart -->
    <body name="cart" pos="0 0 0.1">
      <joint name="slider" type="slide" axis="1 0 0" limited="true" range="-5 5" damping="0.1"/>
      <geom type="box" size="0.2 0.1 0.05" rgba="0.7 0.3 0.3 1" mass="1"/>

      <!-- Pole -->
      <body name="pole" pos="0 0 0">
        <joint name="hinge" type="hinge" axis="0 1 0" pos="0 0 0" damping="0.01"/>
        <geom type="capsule" fromto="0 0 0 0 0 1" size="0.02" rgba="0.3 0.3 0.7 1" mass="0.1"/>
      </body>
    </body>
  </worldbody>

  <actuator>
    <motor name="slide_motor" joint="slider" gear="10" ctrlrange="-10 10"/>
  </actuator>
</mujoco>