I have the inverted pendulum modell below and it should be trained with reinforcement learning in pybullet.
The problem now ist, that it doesn't stand still but it swings back and forth. Does anybody of you have an idea
what could be the reason or how I could fix the model to the ground?
Code: Select all
<?xml version="1.0" ?>
<robot name="Cartpole" >
<joint name="Rotation" type="continuous">
<parent link="Cart"/>
<child link="Shaft"/>
<origin rpy="0 0 0" xyz="0.0215 0.247 0.0435"/>
<axis xyz="1 0 0"/>
<limit effort="0.0" lower="0.0" upper="0.0" velocity="0.0"/>
</joint>
<joint name="Cart_joint" type="prismatic">
<parent link="Base"/>
<child link="Cart"/>
<origin rpy="0 0 0" xyz="-0.04147 -0.31058 0.22851"/>
<axis xyz="0 -1 0"/>
<limit effort="0.0" lower="-0.23555" upper="0.23555" velocity="0.0"/>
</joint>
<joint name="Pole_Shaft" type="fixed">
<parent link="Shaft"/>
<child link="Pole"/>
<origin rpy="0 0 0" xyz="0.0193 0 0.007"/>
<axis xyz="0 0 0"/>
<limit effort="0" lower="0" upper="0" velocity="0"/>
</joint>
<link name="Cart">
<inertial>
<mass value="0.4494280957660571"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia
ixx="0.034344216689805106"
ixy="-0.0013555840592494157"
ixz="0.005746023053830929"
iyy="0.033575305370647346"
iyz="0.007655119926892856"
izz="0.0029338994617400297"/>
</inertial>
<collision name="Cart_collision">
<origin rpy="0 0 0" xyz="-0.00606 0.24716 0.03996"/>
<geometry>
<mesh filename="package:///home/simon_tiessen/sim-to-real-ai/example_robots/urdf_cartpole/meshes/CAD/Cart.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
<visual name="Cart_visual">
<origin rpy="0 0 0" xyz="-0.00606 0.24716 0.03996"/>
<geometry>
<mesh filename="package:///home/simon_tiessen/sim-to-real-ai/example_robots/urdf_cartpole/meshes/CAD/Cart.stl" scale="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<link name="Shaft">
<inertial>
<mass value="0.024209988665072436"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.00188987952436807" ixy="-1.1706804306416182e-05" ixz="5.008066577766269e-05" iyy="0.0017943029340322224" iyz="0.0004187314228447953" izz="0.00010090272031144335"/>
</inertial>
<collision name="Shaft_collision">
<origin rpy="0 0 0" xyz="0.01237 0 0"/>
<geometry>
<mesh filename="package:///home/simon_tiessen/sim-to-real-ai/example_robots/urdf_cartpole/meshes/CAD/Shaft.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
<visual name="Shaft_visual">
<origin rpy="0 0 0" xyz="0.01237 0 0"/>
<geometry>
<mesh filename="package:///home/simon_tiessen/sim-to-real-ai/example_robots/urdf_cartpole/meshes/CAD/Shaft.stl" scale="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<link name="Pole">
<inertial>
<mass value="0.01797430178868597"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0008366739796019355" ixy="-7.689518680322801e-07" ixz="2.477907732299824e-06" iyy="0.0007640110742674137" iyz="0.0002341786839091567" izz="7.299569596665657e-05"/>
</inertial>
<collision name="Pole_collision">
<origin rpy="0 0 0" xyz="0 0 -0.07411"/>
<geometry>
<mesh filename="package:///home/simon_tiessen/sim-to-real-ai/example_robots/urdf_cartpole/meshes/CAD/Pole.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
<visual name="Pole_visual">
<origin rpy="0 0 0" xyz="0 0 -0.07411"/>
<geometry>
<mesh filename="package:///home/simon_tiessen/sim-to-real-ai/example_robots/urdf_cartpole/meshes/CAD/Pole.stl" scale="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<link name="Base">
<inertial>
<mass value="222222.5459113603106216"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.5882136684497374" ixy="-0.02906460593367471" ixz="0.0501787117673072" iyy="0.14479915583911276" iyz="0.07620661469781886" izz="0.5291431708702397"/>
</inertial>
<collision name="Base_collision">
<origin rpy="0 0 0" xyz="-0.10471 -0.14784 0.19902"/>
<geometry>
<mesh filename="package:///home/simon_tiessen/sim-to-real-ai/example_robots/urdf_cartpole/meshes/CAD/Base.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
<visual name="Base_visual">
<origin rpy="0 0 0" xyz="-0.10471 -0.14784 0.19902"/>
<geometry>
<mesh filename="package:///home/simon_tiessen/sim-to-real-ai/example_robots/urdf_cartpole/meshes/CAD/Base.stl" scale="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
</robot>