✨ better robot joint loading

2026-03-09 22:17:28 +01:00
parent 9be07d9186
commit 70cd2cdd7d
13 changed files with 215 additions and 128 deletions
--- a/configs/env/cartpole.yaml
+++ b/configs/env/cartpole.yaml
@@ -1,12 +1,7 @@
 max_steps: 500
+robot_path: assets/cartpole
 angle_threshold: 0.418
 cart_limit: 2.4
 reward_alive: 1.0
 reward_pole_upright_scale: 1.0
 reward_action_penalty_scale: 0.01
-model_path: assets/cartpole/cartpole.urdf
-actuators:
-  - joint: cart_joint
-    gear: 10.0
-    ctrl_range: [-1.0, 1.0]
-    damping: 0.05
--- a/configs/env/rotary_cartpole.yaml
+++ b/configs/env/rotary_cartpole.yaml
@@ -1,8 +1,3 @@
 max_steps: 1000
-model_path: assets/rotary_cartpole/rotary_cartpole.urdf
-reward_upright_scale: 1.0
-actuators:
-  - joint: motor_joint
-    gear: 0.5
-    ctrl_range: [-1.0, 1.0]
-    damping: 0.1
+robot_path: assets/rotary_cartpole
+reward_upright_scale: 1.0