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task.xml
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task.xml
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<mujoco model="Quadrotor Racing">
<include file="../common.xml"/>
<!-- modified from: https://github.com/google-deepmind/mujoco_menagerie/tree/main/skydio_x2 -->
<include file="quadrotor_modified.xml"/>
<include file="gates.xml"/>
<size memory="100K"/>
<statistic extent="2" center="0.0 0.0 0.0"/>
<custom>
<text name="task_transition" data="Loop|Stage1|Stage2|Stage3|Stage4|Stage5|Stage6|Stage7|Stage8|Stage9|Stage10|Stage11|Stage12"/>
<numeric name="agent_planner" data="0"/>
<numeric name="agent_horizon" data="0.5"/>
<numeric name="agent_timestep" data="0.01"/>
<numeric name="sampling_sample_width" data="0.01"/>
<numeric name="sampling_control_width" data="0.015"/>
<numeric name="sampling_spline_points" data="5"/>
<numeric name="sampling_exploration" data="0.3"/>
<numeric name="sampling_processed_noise" data="1"/>
<numeric name="sampling_processed_noise_neighbors" data="3"/>
<numeric name="sampling_processed_noise_passes" data="3"/>
<numeric name="sampling_representation" data="2"/>
<numeric name="sampling_trajectories" data="32"/>
<numeric name="gradient_spline_points" data="5"/>
</custom>
<worldbody>
<geom name="floor" type="plane" conaffinity="1" size="100 100 .2" material="blue_grid"/>
<body name="goal" mocap="true" pos="1.2 0.0 0.75">
<geom type="sphere" size="0.1" contype="0" conaffinity="0" rgba="0 1 0 .5"/>
</body>
<body name="wp1" mocap="false" pos="1.2 0.0 0.75">
<geom type="sphere" size="0.08" contype="0" conaffinity="0" rgba=".86 .86 .86 .5"/>
</body>
<body name="wp2" mocap="false" pos="2.3 0.6 1.5">
<geom type="sphere" size="0.08" contype="0" conaffinity="0" rgba=".86 .86 .86 .5"/>
</body>
<body name="wp3" mocap="false" pos="2.7 0.95 1.5">
<geom type="sphere" size="0.08" contype="0" conaffinity="0" rgba=".86 .86 .86 .5"/>
</body>
<body name="wp4" mocap="false" pos="4.6 0.4 0.75">
<geom type="sphere" size="0.08" contype="0" conaffinity="0" rgba=".86 .86 .86 .5"/>
</body>
<body name="wp5" mocap="false" pos="5.0 -1.8 0.75">
<geom type="sphere" size="0.08" contype="0" conaffinity="0" rgba=".86 .86 .86 .5"/>
</body>
<body name="wp6" mocap="false" pos="3.4 -2.5 0.75">
<geom type="sphere" size="0.08" contype="0" conaffinity="0" rgba=".86 .86 .86 .5"/>
</body>
<body name="wp7" mocap="false" pos="2.5 -2.25 1.45">
<geom type="sphere" size="0.08" contype="0" conaffinity="0" rgba=".86 .86 .86 .5"/>
</body>
<body name="wp8" mocap="false" pos="2.5 -2.25 2.25">
<geom type="sphere" size="0.08" contype="0" conaffinity="0" rgba=".86 .86 .86 .5"/>
</body>
<body name="wp9" mocap="false" pos="1.5 -1.75 1.85">
<geom type="sphere" size="0.08" contype="0" conaffinity="0" rgba=".86 .86 .86 .5"/>
</body>
<body name="wp10" mocap="false" pos="1.05 -1.75 1.3">
<geom type="sphere" size="0.08" contype="0" conaffinity="0" rgba=".86 .86 .86 .5"/>
</body>
<body name="wp11" mocap="false" pos="0.1 -1.4 0.75">
<geom type="sphere" size="0.08" contype="0" conaffinity="0" rgba=".86 .86 .86 .5"/>
</body>
</worldbody>
<sensor>
<user name="Position" dim="3" user="0 25.0 0 50.0"/>
<user name="Lin. Vel." dim="3" user="0 1.25 0.0 5.0"/>
<user name="Ang. Vel." dim="3" user="0 1.25 0.0 5.0"/>
<user name="Control" dim="4" user="0 1.0e-3 0.0 1.0"/>
<user name="Orientation" dim="2" user="0 0.0 0.0 50.0"/>
<framepos name="trace0" objtype="body" objname="x2"/>
<framepos name="position" objtype="body" objname="x2"/>
<framequat name="orientation" objtype="body" objname="x2"/>
<framelinvel name="linear_velocity" objtype="body" objname="x2"/>
<frameangvel name="angular_velocity" objtype="body" objname="x2"/>
</sensor>
<keyframe>
<key name="home" mpos="1.2 0.0 0.75"/>
<key mpos="2.3 0.6 1.5"/>
<key mpos="2.7 0.95 1.5"/>
<key mpos="4.6 0.4 0.75"/>
<key mpos="5.0 -1.8 0.75"/>
<key mpos="3.4 -2.5 0.75"/>
<key mpos="2.5 -2.25 1.45"/>
<key mpos="2.5 -2.25 2.25"/>
<key mpos="1.5 -1.75 1.85"/>
<key mpos="1.05 -1.75 1.3"/>
<key mpos="0.1 -1.4 0.75"/>
<key mpos="0.0 0.0 0.75"/>
</keyframe>
</mujoco>