task.xml

<mujoco model="Walker Locomotion">
  <include file="../common.xml"/>
  <!-- modified from: https://github.com/google-deepmind/dm_control/blob/main/dm_control/suite/walker.xml -->
  <include file="walker_modified.xml" />

  <size memory="100K"/>

  <custom>
    <!-- agent -->
    <numeric name="agent_planner" data="2" />
    <numeric name="agent_horizon" data="0.8" />
    <numeric name="agent_timestep" data="0.01" />
    <numeric name="sampling_spline_points" data="3" />
    <numeric name="sampling_exploration" data="0.5" />
    <numeric name="gradient_spline_points" data="5" />
    <numeric name="residual_Height Goal" data="1.2 0.5 1.2" />
    <numeric name="residual_Speed Goal" data="0 -5.0 5.0" />

    <!-- estimator -->
    <numeric name="estimator" data="0" />
    <numeric name="estimator_sensor_start" data="4" />
    <numeric name="estimator_number_sensor" data="9" />
    <numeric name="estimator_timestep" data="0.005" />
    <numeric name="batch_configuration_length" data="3" />
    <numeric name="batch_scale_prior" data="1.0e-3" />
  </custom>

  <sensor>
    <!-- cost -->
    <user name="Control" dim="6" user="0 0.1 0.0 1.0" />
    <user name="Height" dim="1" user="0 10.0 0.0 10.0" />
    <user name="Rotation" dim="1" user="0 3.0 0.0 5.0" />
    <user name="Speed" dim="1" user="0 1.0 0.0 1.0" />

    <!-- estimator -->
    <jointpos name="rootz" joint="rootz" />
    <jointpos name="rootx" joint="rootx" />
    <jointpos name="rooty" joint="rooty" />
    <jointpos name="right_hip" joint="right_hip" />
    <jointpos name="right_knee" joint="right_knee" />
    <jointpos name="right_ankle" joint="right_ankle" />
    <jointpos name="left_hip" joint="left_hip" />
    <jointpos name="left_knee" joint="left_knee" />
    <jointpos name="left_ankle" joint="left_ankle" />

    <!-- trace -->
    <framepos      name="trace0" objtype="site" objname="torso_site"/>

    <!-- residual -->
    <framepos      name="torso_position" objtype="xbody" objname="torso"/>
    <subtreecom    name="torso_subtreecom" body="torso"/>
    <subtreelinvel name="torso_subtreelinvel" body="torso"/>
    <framezaxis    name="torso_zaxis" objtype="xbody" objname="torso"/>
  </sensor>
</mujoco>