✨ initial commit

2026-03-06 22:19:44 +01:00
commit c8f28ffbcc
17 changed files with 811 additions and 0 deletions
--- a/configs/env/cartpole.yaml
+++ b/configs/env/cartpole.yaml
@@ -0,0 +1,11 @@
+max_steps: 500
+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]