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task.xml
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task.xml
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<mujoco model="Panda">
<include file="../common.xml"/>
<size memory="1M"/>
<custom>
<numeric name="agent_planner" data="0" />
<numeric name="agent_horizon" data="0.5" />
<numeric name="agent_timestep" data="0.009" />
<numeric name="agent_policy_width" data="0.0035" />
<numeric name="sampling_trajectories" data="60"/>
<numeric name="sampling_spline_points" data="7" />
<numeric name="sampling_exploration" data="0.1" />
<numeric name="gradient_spline_points" data="6" />
</custom>
<statistic extent="1.5" center="0.1 0.2 0.3"/>
<visual>
<quality shadowsize="8192"/>
<global azimuth="180" elevation="-30"/>
<scale framelength=".3" framewidth=".03"/>
</visual>
<default>
<geom solref=".001 1"/>
</default>
<compiler texturedir="./textures"/>
<worldbody>
<site name="world"/>
<light pos="0 -0.1 0.5" dir="0 0.2 -1" diffuse="0.7 0.7 0.7" specular="0.3 0.3 0.3"
directional="true" castshadow="true"/>
<geom name="floor" pos="0 0 0" size="0 0 0.05" type="plane" material="blue_grid"/>
<body name="target" mocap="true" pos="0.6 0.4 0.05">
<geom name="target" type="box" size="0.02 0.03 0.02" contype="0" conaffinity="0" rgba=".5 .5 .5 .3"/>
<site name="target1" type="box" pos="0 .026 0" size="0.021 0.005 0.021" rgba="1 .1 .1 .3"/>
<site name="target2" type="box" pos="0 -.026 0" size="0.021 0.005 0.021" rgba=".1 .1 1 .3"/>
</body>
<body name="box" pos="0.4 0.5 0.2">
<freejoint/>
<geom name="box" type="box" size="0.02 0.03 0.02" priority="1" condim="6" friction="1 .01 .003"/>
<site name="box1" type="box" pos="0 .026 0" size="0.021 0.005 0.021" rgba="1 .1 .1 1"/>
<site name="box2" type="box" pos="0 -.026 0" size="0.021 0.005 0.021" rgba=".1 .1 1 1"/>
</body>
</worldbody>
<contact>
<exclude body1="world" body2="left_finger"/>
<exclude body1="world" body2="right_finger"/>
<exclude body1="left_finger" body2="right_finger"/>
</contact>
<keyframe>
<key name="home" qpos="-0.026895 0.391451 0.0199961 0.959693 0 0 -0.281049 1.00714 0.42312 -0.00198696 -1.65569 -0.05794 2.28189 0.393188 0.005 0.005"/>
</keyframe>
<sensor>
<user name="Reach" dim="3" user="2 1 0 5 0.01"/>
<user name="Bring" dim="6" user="2 .1 0 1 0.003"/>
<framepos name="hand" objtype="site" objname="eeff"/>
<framepos name="box" objtype="geom" objname="box"/>
<framepos name="box1" objtype="site" objname="box1"/>
<framepos name="box2" objtype="site" objname="box2"/>
<framepos name="target" objtype="geom" objname="target"/>
<framepos name="target1" objtype="site" objname="target1"/>
<framepos name="target2" objtype="site" objname="target2"/>
<framepos name="trace0" objtype="site" objname="touch_left"/>
<framepos name="trace1" objtype="site" objname="touch_right"/>
</sensor>
<!-- modified from: https://github.com/google-deepmind/mujoco_menagerie/tree/main/franka_emika_panda -->
<include file="panda_modified.xml"/>
</mujoco>