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task.xml
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task.xml
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<mujoco model="Humanoid Track">
<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>
<text name="task_transition" data="Jump|Kick Spin|Spin Kick|Cartwheel (1)|Crouch Flip|Cartwheel (2)|Monkey Flip|Dance|Run|Walk" />
<numeric name="sampling_representation" data="2" />
<numeric name="agent_planner" data="2" />
<numeric name="agent_horizon" data="0.5" />
<numeric name="agent_timestep" data="0.005" />
<numeric name="sampling_spline_points" data="16" />
<numeric name="sampling_exploration" data="0.15" />
<numeric name="sampling_trajectories" data="32" />
<numeric name="gradient_spline_points" data="5" />
<numeric name="ilqg_num_rollouts" data="16" />
<numeric name="ilqg_regularization_type" data="1" />
<numeric name="ilqg_representation" data="2" />
</custom>
<default>
<default class="mocap_site">
<site type="sphere" size="0.027" rgba="0 0 1 1" group="3" material="target"/>
</default>
</default>
<option timestep="0.005"/>
<worldbody>
<body name="mocap[pelvis]" mocap="true">
<site name="mocap[pelvis]" class="mocap_site" size="0.05" />
</body>
<body name="mocap[head]" mocap="true">
<site name="mocap[head]" class="mocap_site" />
</body>
<body name="mocap[ltoe]" mocap="true">
<site name="mocap[ltoe]" class="mocap_site" />
</body>
<body name="mocap[rtoe]" mocap="true">
<site name="mocap[rtoe]" class="mocap_site" />
</body>
<body name="mocap[lheel]" mocap="true">
<site name="mocap[lheel]" class="mocap_site" />
</body>
<body name="mocap[rheel]" mocap="true">
<site name="mocap[rheel]" class="mocap_site" />
</body>
<body name="mocap[lknee]" mocap="true">
<site name="mocap[lknee]" class="mocap_site" />
</body>
<body name="mocap[rknee]" mocap="true">
<site name="mocap[rknee]" class="mocap_site" />
</body>
<body name="mocap[lhand]" mocap="true">
<site name="mocap[lhand]" class="mocap_site" />
</body>
<body name="mocap[rhand]" mocap="true">
<site name="mocap[rhand]" class="mocap_site" />
</body>
<body name="mocap[lelbow]" mocap="true">
<site name="mocap[lelbow]" class="mocap_site" />
</body>
<body name="mocap[relbow]" mocap="true">
<site name="mocap[relbow]" class="mocap_site" />
</body>
<body name="mocap[lshoulder]" mocap="true">
<site name="mocap[lshoulder]" class="mocap_site" />
</body>
<body name="mocap[rshoulder]" mocap="true">
<site name="mocap[rshoulder]" class="mocap_site" />
</body>
<body name="mocap[lhip]" mocap="true">
<site name="mocap[lhip]" class="mocap_site" />
</body>
<body name="mocap[rhip]" mocap="true">
<site name="mocap[rhip]" class="mocap_site" />
</body>
</worldbody>
<sensor>
<user name="Joint Vel." dim="21" user="0 0.001 0.0 0.01" />
<user name="Control" dim="21" user="3 0.1 0 1.0 0.3" />
<user name="Pos[avg]" dim="3" user="6 100.0 0.0 100.0 0.1" />
<user name="Pos[pelvis]" dim="3" user="6 30.0 0.0 100.0 0.1" />
<user name="Pos[head]" dim="3" user="6 0.0 0.0 100.0 0.1" />
<user name="Pos[toe]" dim="6" user="7 30.0 0.0 100.0 0.2 4" />
<user name="Pos[heel]" dim="6" user="7 30.0 0.0 100.0 0.2 4" />
<user name="Pos[knee]" dim="6" user="6 30.0 0.0 100.0 0.1" />
<user name="Pos[hand]" dim="6" user="6 30.0 0.0 100.0 0.1" />
<user name="Pos[elbow]" dim="6" user="7 30.0 0.0 100.0 0.2 4" />
<user name="Pos[shoulder]" dim="6" user="6 30.0 0.0 100.0 0.1" />
<user name="Pos[hip]" dim="6" user="6 30.0 0.0 100.0 0.1" />
<user name="Vel[root]" dim="3" user="6 0.1 0 1.0 0.3" />
<user name="Vel[head]" dim="3" user="6 0.0 0 1.0 0.3" />
<user name="Vel[toe]" dim="6" user="6 0.1 0 1.0 0.3" />
<user name="Vel[heel]" dim="6" user="6 0.1 0 1.0 0.3" />
<user name="Vel[knee]" dim="6" user="6 0.1 0 1.0 0.3" />
<user name="Vel[hand]" dim="6" user="6 0.1 0 1.0 0.3" />
<user name="Vel[elbow]" dim="6" user="6 0.1 0 1.0 0.3" />
<user name="Vel[shoulder]" dim="6" user="6 0.1 0 1.0 0.3" />
<user name="Vel[hip]" dim="6" user="6 0.1 0 1.0 0.3" />
<framepos name="trace0" objtype="body" objname="torso"/>
<framepos name="tracking_pos[pelvis]" objtype="site" objname="tracking[pelvis]" />
<framepos name="tracking_pos[head]" objtype="site" objname="tracking[head]" />
<framepos name="tracking_pos[ltoe]" objtype="site" objname="tracking[ltoe]" />
<framepos name="tracking_pos[rtoe]" objtype="site" objname="tracking[rtoe]" />
<framepos name="tracking_pos[lheel]" objtype="site" objname="tracking[lheel]" />
<framepos name="tracking_pos[rheel]" objtype="site" objname="tracking[rheel]" />
<framepos name="tracking_pos[lknee]" objtype="site" objname="tracking[lknee]" />
<framepos name="tracking_pos[rknee]" objtype="site" objname="tracking[rknee]" />
<framepos name="tracking_pos[lhand]" objtype="site" objname="tracking[lhand]" />
<framepos name="tracking_pos[rhand]" objtype="site" objname="tracking[rhand]" />
<framepos name="tracking_pos[lelbow]" objtype="site" objname="tracking[lelbow]" />
<framepos name="tracking_pos[relbow]" objtype="site" objname="tracking[relbow]" />
<framepos name="tracking_pos[lshoulder]" objtype="site" objname="tracking[lshoulder]" />
<framepos name="tracking_pos[rshoulder]" objtype="site" objname="tracking[rshoulder]" />
<framepos name="tracking_pos[lhip]" objtype="site" objname="tracking[lhip]" />
<framepos name="tracking_pos[rhip]" objtype="site" objname="tracking[rhip]" />
<framelinvel name="tracking_linvel[pelvis]" objtype="site" objname="tracking[pelvis]" />
<framelinvel name="tracking_linvel[head]" objtype="site" objname="tracking[head]" />
<framelinvel name="tracking_linvel[ltoe]" objtype="site" objname="tracking[ltoe]" />
<framelinvel name="tracking_linvel[rtoe]" objtype="site" objname="tracking[rtoe]" />
<framelinvel name="tracking_linvel[lheel]" objtype="site" objname="tracking[lheel]" />
<framelinvel name="tracking_linvel[rheel]" objtype="site" objname="tracking[rheel]" />
<framelinvel name="tracking_linvel[lknee]" objtype="site" objname="tracking[lknee]" />
<framelinvel name="tracking_linvel[rknee]" objtype="site" objname="tracking[rknee]" />
<framelinvel name="tracking_linvel[lhand]" objtype="site" objname="tracking[lhand]" />
<framelinvel name="tracking_linvel[rhand]" objtype="site" objname="tracking[rhand]" />
<framelinvel name="tracking_linvel[lelbow]" objtype="site" objname="tracking[lelbow]" />
<framelinvel name="tracking_linvel[relbow]" objtype="site" objname="tracking[relbow]" />
<framelinvel name="tracking_linvel[lshoulder]" objtype="site" objname="tracking[lshoulder]" />
<framelinvel name="tracking_linvel[rshoulder]" objtype="site" objname="tracking[rshoulder]" />
<framelinvel name="tracking_linvel[lhip]" objtype="site" objname="tracking[lhip]" />
<framelinvel name="tracking_linvel[rhip]" objtype="site" objname="tracking[rhip]" />
</sensor>
<include file="./keyframes/CMU-CMU-02-02_04_poses.xml" /> <!-\- simple jump, balance -\->
<include file="./keyframes/CMU-CMU-87-87_01_poses.xml" /> <!-\- jump with kick and spin -\->
<include file="./keyframes/CMU-CMU-88-88_06_poses.xml" /> <!-\- jump and spin kick -\->
<include file="./keyframes/CMU-CMU-88-88_07_poses.xml" /> <!-\- cartwheel-\->
<include file="./keyframes/CMU-CMU-88-88_08_poses.xml" /> <!-\- crouch and flip backward on hands -\->
<include file="./keyframes/CMU-CMU-88-88_09_poses.xml" /> <!-\- stretch and cartwheel -\->
<include file="./keyframes/CMU-CMU-90-90_19_poses.xml" /> <!-\- monkey backflip -\->
<include file="./keyframes/CMU-CMU-103-103_08_poses.xml" /> <!-\- dance: "xtra fancY charleston" -\->
<include file="./keyframes/CMU-CMU-108-108_13_poses.xml" /> <!-\- run -\->
<include file="./keyframes/CMU-CMU-137-137_40_poses.xml" /> <!-\- walk -\->
</mujoco>