Simulated worlds
- Mountain car: classical problem in the control literature. The car must be driven to the top of a hill
- Swing-up pendulum: another classical control problem in which the goal is to swing the pendulum until it stands up
- Double pendulum: similar problem with two pendulums
- Balancing pole: a car beneath a pole must be driven without allowing the pole to fall
- Underwater vehicle: an underwater vehicle must be controlled to follow the setpoint
- Rain car: simple test environment in which the goal is to drive a car underneath a tree as fast as possible
- Pitch control: it simulates the pitching control of an airplane that must follow a setpoint
- Robot control: a robot must be driven toward the goal position
- Push-box 1: one robot push a box toward the goal position
- Push-box 2: two robots push a box toward the goal position
- Pull-box 1: one robot linked to a box pull the box toward the goal position
- Pull-box 2: two robots linked to a box by a rope pull the box toward the goal position
- Wind-turbine: a 2-mass model of a Variable-Speed Wind Turbine in which the agent controls the blade pitch and the generator's torque to keep the generated electrical power as close as possible to the nominal value
- FAST Wind-turbine: realistic model that simulates a Variable-Speed Wind Turbine using OpenFAST
All the worlds feature visualizations that use a built-in minimal OpenGL graphical engine. The XML files that define the visualization for each world can be located in /config/scenes/. Examples of these visualizations:
