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task_hill.xml
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task_hill.xml
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<mujoco model="Quadruped Terrain">
<include file="../common.xml"/>
<size memory="1M"/>
<custom>
<text name="task_transition" data="Loop|Stage1|Stage2|Stage3|Stage4|Stage5|Stage6|Stage7|Stage8|Stage9|Stage10|Stage11|Stage12|Stage13|Stage14|Stage15|Stage16|Stage17|Stage18|Stage19" />
<numeric name="agent_planner" data="0" />
<numeric name="agent_horizon" data="0.25" />
<numeric name="agent_timestep" data="0.01" />
<numeric name="sampling_spline_points" data="5" />
<numeric name="sampling_exploration" data="0.3" />
<numeric name="gradient_spline_points" data="5" />
<numeric name="residual_Height Goal" data="0.25" />
</custom>
<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" diffuse="0.7 0.7 0.7" specular="0.3 0.3 0.3"
directional="true" castshadow="true"/>
<body name="goal" mocap="true" pos="-0.125 -0.625 0.25" quat="0.7071 0 0 -0.7071">
<geom type="capsule" size="0.1 0.1 0.05" contype="0" conaffinity="0" rgba="0 1 0 .5" fromto="-0.1 0 0 0.1 0 0"/>
</body>
<geom name="floor" size="50 50 0.05" pos="0 0 -0.01" type="plane" material="blue_grid"/>
</worldbody>
<!-- modified from: https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_a1 -->
<include file="a1_modified.xml" />
<default>
<default class="task">
<site rgba="1 0 0 1" size=".02" group="5"/>
<default class="flight">
<site rgba="1 .3 .3 1" size="0.019" group="5"/>
</default>
<default class="stance">
<site rgba=".3 1 .3 1" size=".018" group="4"/>
</default>
</default>
<default class="prop">
<geom type="box" rgba="0 0.4 1 1"/>
</default>
</default>
<!-- position actuators -->
<actuator>
<position class="abduction" name="FR_hip" joint="FR_hip_joint"/>
<position class="hip" name="FR_thigh" joint="FR_thigh_joint"/>
<position class="knee" name="FR_calf" joint="FR_calf_joint"/>
<position class="abduction" name="FL_hip" joint="FL_hip_joint"/>
<position class="hip" name="FL_thigh" joint="FL_thigh_joint"/>
<position class="knee" name="FL_calf" joint="FL_calf_joint"/>
<position class="abduction" name="RR_hip" joint="RR_hip_joint"/>
<position class="hip" name="RR_thigh" joint="RR_thigh_joint"/>
<position class="knee" name="RR_calf" joint="RR_calf_joint"/>
<position class="abduction" name="RL_hip" joint="RL_hip_joint"/>
<position class="hip" name="RL_thigh" joint="RL_thigh_joint"/>
<position class="knee" name="RL_calf" joint="RL_calf_joint"/>
</actuator>
<include file="assets/fractal.xml" />
<sensor>
<user name="Stand" dim="1" user="0 1.0 0.0 10.0" />
<user name="Body Pos." dim="3" user="0 5.0 0.0 100.0" />
<user name="Body Rot." dim="9" user="0 1.0 0.0 10.0" />
<user name="Control" dim="12" user="0 0.25 0.0 1.0" />
<framepos name="trace0" objtype="body" objname="trunk"/>
<framepos name="position" objtype="body" objname="trunk"/>
<framequat name="orientation" objtype="xbody" objname="trunk"/>
<subtreecom name="torso_subtreecom" body="trunk"/>
<subtreelinvel name="torso_subtreelinvel" body="trunk"/>
<framezaxis name="torso_zaxis" objtype="xbody" objname="trunk"/>
<framepos name="FR" objtype="site" objname="FR"/>
<framepos name="FL" objtype="site" objname="FL"/>
<framepos name="RR" objtype="site" objname="RR"/>
<framepos name="RL" objtype="site" objname="RL"/>
</sensor>
<keyframe>
<key name="home" qpos="-0.0218846 -0.00761031 0.261501 0.687326 0.014696 -0.0122004 -0.726098 -0.00181525 0.00123972 -0.0485806 -0.00349432 0.00500918 -0.023133 -0.00118292 -0.0109732 -0.0465082 0.0116829 -0.0201041 -0.065258" mpos="-0.125 -0.625 0.25" mquat="0.7071 0 0 -0.7071" />
<key mpos="-0.25 -1.0 0.25" mquat="0.7071 0 0 -0.7071" />
<key mpos="-0.352465 -1.59862 0.25" mquat="0.57708 0.00553628 0.0193185 -0.816441" />
<key mpos="-0.521426 -2.13349 0.25" mquat="0.376087 0.0126024 0.043511 -0.925476" />
<key mpos="-1.01012 -2.46729 0.25" mquat="0.22392 -0.01447 -0.020911 -0.974276" />
<key mpos="-2.01529 -2.4747 0.25" mquat="-0.120595 -0.000947347 -0.00240632 -0.992698" />
<key mpos="-2.70571 -2.30555 0.25" mquat="-0.318146 0.000988078 0.00725028 -0.948013"/>
<key mpos="-3.33213 -1.54147 0.25" mquat="-0.513833 0.00638754 0.0104858 -0.857802" />
<key mpos="-4.3052 -1.01978 0.25" mquat="-0.333376 -0.0158649 -0.0174328 -0.942499" />
<key mpos="-4.65979 -0.304562 0.25" mquat="-0.640389 -0.0128244 -0.0106949 -0.767869" />
<key mpos="-4.74108 0.688841 0.282658" mquat="-0.750482 0.00603289 0.00164193 -0.660861"/>
<key mpos="-4.72309 2.03176 0.332065" mquat="-0.947639 0.027713 0.0847702 -0.306636" />
<key mpos="-4.261 2.18683 0.482171" mquat="-0.968425 0.0751566 0.122897 -0.203472" />
<key mpos="-3.82627 2.35773 0.664309" mquat="-0.973036 0.0828384 0.125644 -0.174795" />
<key mpos="-3.42159 2.52583 0.74358" mquat="-0.983078 0.0536915 0.0765578 -0.157522"/>
<key mpos="-2.97588 2.51519 0.668477" mquat="-0.987317 0.00974949 -0.158461 -0.000752004" />
<key mpos="-2.12638 2.40482 0.294929" mquat="-0.990415 0.0141218 -0.0226965 0.135512"/>
<key mpos="-0.520779 1.66374 0.294929" mquat="-0.879422 0.00987186 0.00827335 0.475868"/>
<key mpos="-0.0844852 0.465219 0.294929" mquat="-0.724005 -0.0134362 -0.0156856 0.689485"/>
</keyframe>
</mujoco>