Description: Classic pendulum system for studying periodic motion and energy conservation Parameters:
length: length (default: 0.5m)mass: pendulum mass (default: 0.5kg)damping: damping (default: 0.1)
Usage Example:
{
"scene_type": "pendulum",
"parameters": {
"length": 0.6,
"mass": 0.8,
"damping": 0.15
}
}Description: Chaotic double pendulum system demonstrating complex nonlinear dynamics Parameters:
length1: first segment length (default: 0.4m)length2: second segment length (default: 0.4m)mass1: first segment mass (default: 0.3kg)mass2: second segment mass (default: 0.3kg)
Usage Example:
{
"scene_type": "double_pendulum",
"parameters": {
"length1": 0.5,
"length2": 0.3,
"mass1": 0.4,
"mass2": 0.2
}
}Description: Classic control problem, balancing an inverted pendulum on a cart Parameters:
cart_mass: cart mass (default: 1.0kg)pole_mass: pole mass (default: 0.1kg)pole_length: pole length (default: 0.5m)
Usage Example:
{
"scene_type": "cart_pole",
"parameters": {
"cart_mass": 1.5,
"pole_mass": 0.15,
"pole_length": 0.6
}
}Description: 2-DOF manipulator, suitable for path planning and inverse kinematics research Parameters:
link1_length: first joint length (default: 0.3m)link2_length: second joint length (default: 0.3m)base_mass: base mass (default: 0.5kg)link1_mass: first link mass (default: 0.3kg)link2_mass: second link mass (default: 0.2kg)
Usage Example:
{
"scene_type": "robotic_arm",
"parameters": {
"link1_length": 0.4,
"link2_length": 0.25,
"base_mass": 0.8
}
}All scenes support the following control methods:
get_state: Get current stateset_joint_positions: Set joint positionsreset_simulation: Reset simulationexecute_command: Natural language control
Each scene is displayed in real-time in MuJoCo Viewer:
- Colored geometries represent different components
- Real-time physics simulation
- Mouse interaction support