✨ add rotary cartpole env

2026-03-08 22:58:32 +01:00
parent c8f28ffbcc
commit c753c369b4
15 changed files with 464 additions and 171 deletions
--- a/configs/env/rotary_cartpole.yaml
+++ b/configs/env/rotary_cartpole.yaml
@@ -0,0 +1,7 @@
+max_steps: 1000
+model_path: assets/rotary_cartpole/rotary_cartpole.urdf
+reward_upright_scale: 1.0
+actuators:
+  - joint: motor_joint
+    gear: 15.0
+    ctrl_range: [-1.0, 1.0]