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task.xml
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task.xml
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<mujoco model="Particle Control">
<include file="../common.xml"/>
<!-- modified from: https://github.com/google-deepmind/dm_control/blob/main/dm_control/suite/point_mass.xml -->
<include file="particle_modified.xml" />
<size memory="10K"/>
<custom>
<numeric name="task_risk" data="1" />
<numeric name="agent_planner" data="0" />
<numeric name="agent_horizon" data="0.5" />
<numeric name="agent_timestep" data="0.01" />
<numeric name="agent_policy_width" data="0.0015" />
<numeric name="sampling_spline_points" data="5" />
<numeric name="sampling_exploration" data="0.01" />
<numeric name="gradient_spline_points" data="5" />
</custom>
<sensor>
<user name="Position" dim="2" user="0 5.0 0.0 10.0" />
<user name="Velocity" dim="2" user="0 0.1 0.0 1.0" />
<user name="Control" dim="2" user="0 0.1 0.0 1.0" />
<framepos name="trace0" objtype="site" objname="tip"/>
<framepos name="position" objtype="site" objname="tip"/>
<framelinvel name="velocity" objtype="site" objname="tip"/>
<framepos name="goal" objtype="body" objname="goal"/>
</sensor>
<worldbody>
<body name="goal" mocap="true" pos="0.25 0 0.01" quat="1 0 0 0">
<geom type="sphere" size=".01" contype="0" conaffinity="0" rgba="0 1 0 .5"/>
</body>
</worldbody>
</mujoco>