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task.xml
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task.xml
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<mujoco model="Humanoid Locomotion">
<include file="../../common.xml"/>
<!-- modified from: https://github.com/google-deepmind/dm_control/blob/main/dm_control/suite/humanoid.xml -->
<include file="../humanoid_modified.xml" />
<size memory="400K"/>
<custom>
<!-- agent -->
<numeric name="agent_planner" data="2" />
<numeric name="agent_horizon" data="0.35" />
<numeric name="agent_timestep" data="0.015" />
<numeric name="sampling_spline_points" data="3" />
<numeric name="sampling_exploration" data="0.05" />
<numeric name="gradient_spline_points" data="5" />
<numeric name="residual_Torso" data="1.35 1.0 1.7" />
<numeric name="residual_Speed" data="0.5 -3.0 3.0" />
<!-- estimator -->
<numeric name="estimator" data="0" />
<numeric name="estimator_sensor_start" data="8" />
<numeric name="estimator_number_sensor" data="26" />
<numeric name="estimator_timestep" data="0.0075" />
<numeric name="batch_configuration_length" data="3" />
<numeric name="batch_scale_prior" data="1.0e-3" />
</custom>
<sensor>
<!-- cost -->
<user name="Height" dim="1" user="7 5.0 0 25.0 0.1 4.0" />
<user name="Pelvis/Feet" dim="1" user="8 1.0 0.0 10.0 0.05" />
<user name="Balance" dim="2" user="1 5.0 0.0 25.0 0.02 4.0" />
<user name="Upright" dim="8" user="2 5.0 0.0 25.0 0.01" />
<user name="Posture" dim="21" user="0 0.025 0 1.0" />
<user name="Velocity" dim="2" user="7 0.625 0 25.0 0.2 4.0" />
<user name="Walk" dim="1" user="7 1.0 0.0 25.0 0.5 3.0" />
<user name="Control" dim="21" user="3 0.1 0 1.0 0.3" />
<!-- estimator measurements -->
<framepos name="pelvis" objtype="site" objname="tracking[pelvis]" />
<framepos name="right_foot" objtype="site" objname="foot_right" />
<framepos name="left_foot" objtype="site" objname="foot_left" />
<framepos name="right_hand" objtype="site" objname="tracking[rhand]" />
<framepos name="left_hand" objtype="site" objname="tracking[lhand]" />
<jointpos name="abdomen_z" joint="abdomen_z"/>
<jointpos name="abdomen_y" joint="abdomen_y"/>
<jointpos name="abdomen_x" joint="abdomen_x"/>
<jointpos name="hip_x_right" joint="hip_x_right"/>
<jointpos name="hip_z_right" joint="hip_z_right"/>
<jointpos name="hip_y_right" joint="hip_y_right"/>
<jointpos name="knee_right" joint="knee_right"/>
<jointpos name="ankle_y_right" joint="ankle_y_right"/>
<jointpos name="ankle_x_right" joint="ankle_x_right"/>
<jointpos name="hip_x_left" joint="hip_x_left"/>
<jointpos name="hip_z_left" joint="hip_z_left"/>
<jointpos name="hip_y_left" joint="hip_y_left"/>
<jointpos name="knee_left" joint="knee_left"/>
<jointpos name="ankle_y_left" joint="ankle_y_left"/>
<jointpos name="ankle_x_left" joint="ankle_x_left"/>
<jointpos name="shoulder1_right" joint="shoulder1_right"/>
<jointpos name="shoulder2_right" joint="shoulder2_right"/>
<jointpos name="elbow_right" joint="elbow_right"/>
<jointpos name="shoulder1_left" joint="shoulder1_left"/>
<jointpos name="shoulder2_left" joint="shoulder2_left"/>
<jointpos name="elbow_left" joint="elbow_left" />
<!-- trace -->
<framepos name="trace0" objtype="body" objname="torso"/>
<!-- residual -->
<framepos name="torso_position" objtype="body" objname="torso"/>
<subtreecom name="torso_subcom" body="torso"/>
<subtreelinvel name="torso_subcomvel" body="torso"/>
<framepos name="foot_right" objtype="body" objname="foot_right"/>
<framepos name="foot_left" objtype="body" objname="foot_left"/>
<framepos name="pelvis_position" objtype="body" objname="pelvis"/>
<framezaxis name="torso_up" objtype="xbody" objname="torso"/>
<framezaxis name="pelvis_up" objtype="xbody" objname="pelvis"/>
<framezaxis name="foot_right_up" objtype="xbody" objname="foot_right"/>
<framezaxis name="foot_left_up" objtype="xbody" objname="foot_left"/>
<framexaxis name="torso_forward" objtype="xbody" objname="torso"/>
<framexaxis name="pelvis_forward" objtype="xbody" objname="pelvis"/>
<framexaxis name="foot_right_forward" objtype="xbody" objname="foot_right"/>
<framexaxis name="foot_left_forward" objtype="xbody" objname="foot_left"/>
<subtreelinvel name="waist_lower_subcomvel" body="waist_lower"/>
<framelinvel name="torso_velocity" objtype="body" objname="torso"/>
<framelinvel name="foot_right_velocity" objtype="body" objname="foot_right"/>
<framelinvel name="foot_left_velocity" objtype="body" objname="foot_left"/>
</sensor>
</mujoco>