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task_flat.xml
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task_flat.xml
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<mujoco model="Quadruped">
<include file="../common.xml"/>
<size memory="1M"/>
<custom>
<!-- agent -->
<text name="task_transition" data="Quadruped|Biped|Walk|Scramble|Flip" />
<numeric name="agent_planner" data="2 " />
<numeric name="agent_horizon" data="0.35" />
<numeric name="agent_timestep" data="0.01" />
<numeric name="sampling_spline_points" data="3" />
<numeric name="sampling_trajectories" data="60"/>
<numeric name="sampling_exploration" data="0.04" />
<numeric name="gradient_spline_points" data="5" />
<!-- residual -->
<numeric name="residual_select_Gait" data="0"/>
<text name="residual_list_Gait" data="Stand|Walk|Trot|Canter|Gallop"/>
<numeric name="residual_select_Gait switch" data="1"/>
<text name="residual_list_Gait switch" data="Manual|Automatic"/>
<numeric name="residual_Cadence" data="2 0 4" />
<numeric name="residual_Amplitude" data=".06 0 0.2" />
<numeric name="residual_Duty ratio" data="0 0 1"/>
<numeric name="residual_Walk speed" data="0 0 4"/>
<numeric name="residual_Walk turn" data="0 -2 2"/>
<numeric name="residual_select_Flip dir" data="0"/>
<text name="residual_list_Flip dir" data="Back Flip|Front Flip"/>
<numeric name="residual_select_Biped type" data="0"/>
<text name="residual_list_Biped type" data="Foot Stand|Hand Stand"/>
<numeric name="residual_Heading" data="0 -3.14 3.14" />
<numeric name="residual_Arm posture" data=".03 0 1"/>
<!-- estimator -->
<numeric name="estimator" data="0" />
<numeric name="estimator_sensor_start" data="9" />
<numeric name="estimator_number_sensor" data="21" />
<numeric name="estimator_timestep" data="0.005" />
<numeric name="batch_configuration_length" data="3" />
<numeric name="batch_scale_prior" data="1.0e-3" />
</custom>
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
<global azimuth="-90"/>
</visual>
<statistic extent="1" center="0 0 .3"/>
<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" diffuse="0.5 0.5 0.5" specular="0.3 0.3 0.3"
directional="true" castshadow="false"/>
<geom name="floor" size="0 0 0.1" pos="0 0 -0.01" type="plane" material="blue_grid"/>
<body name="goal" mocap="true" pos=".3 0 0.26">
<geom size="0.12" contype="0" conaffinity="0" rgba="0 1 0 .5" group="2"/>
</body>
<body name="box" mocap="true" pos="-2.5 0 0">
<geom name="box" class="prop" size="1 1 0.3"/>
</body>
<geom name="ramp" class="prop" pos="3.13 2.5 -.18" size="1.6 1 .5" euler="0 -0.2 0"/>
<geom name="hill" class="prop" pos="6 6 -5.5" size="6" type="sphere"/>
</worldbody>
<default>
<default class="torque">
<general gainprm="40" ctrllimited="true" ctrlrange="-1 1"/>
</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>
<!-- modified from: https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_a1 -->
<include file="a1_modified.xml" />
<actuator>
<general class="torque" name="FR_hip" joint="FR_hip_joint"/>
<general class="torque" name="FR_thigh" joint="FR_thigh_joint"/>
<general class="torque" name="FR_calf" joint="FR_calf_joint"/>
<general class="torque" name="FL_hip" joint="FL_hip_joint"/>
<general class="torque" name="FL_thigh" joint="FL_thigh_joint"/>
<general class="torque" name="FL_calf" joint="FL_calf_joint"/>
<general class="torque" name="RR_hip" joint="RR_hip_joint"/>
<general class="torque" name="RR_thigh" joint="RR_thigh_joint"/>
<general class="torque" name="RR_calf" joint="RR_calf_joint"/>
<general class="torque" name="RL_hip" joint="RL_hip_joint"/>
<general class="torque" name="RL_thigh" joint="RL_thigh_joint"/>
<general class="torque" name="RL_calf" joint="RL_calf_joint"/>
</actuator>
<sensor>
<!-- cost -->
<user name="Upright" dim="3" user="6 1 0 3 0.05" />
<user name="Height" dim="1" user="6 1 0 3 0.04" />
<user name="Position" dim="3" user="2 0.2 0 0.5 0.1" />
<user name="Gait" dim="4" user="6 2 0 10 0.03" />
<user name="Balance" dim="2" user="2 0.2 0 0.3 0.1" />
<user name="Effort" dim="12" user="0 0.03 0.0 0.1" />
<user name="Posture" dim="12" user="0 0.02 0.0 0.1" />
<user name="Orientation" dim="2" user="0 0 0 .03" />
<user name="Angmom" dim="3" user="0 0 0 .03" />
<!-- estimator measurements -->
<framepos name="torso_pos" objtype="site" objname="torso" />
<framepos name="FR_pos" objtype="site" objname="FR" />
<framepos name="FL_pos" objtype="site" objname="FL" />
<framepos name="RR_pos" objtype="site" objname="RR" />
<framepos name="RL_pos" objtype="site" objname="RL" />
<jointpos name="pos_FR_hip_joint" joint="FR_hip_joint" />
<jointpos name="pos_FR_thigh_joint" joint="FR_thigh_joint" />
<jointpos name="pos_FR_calf_joint" joint="FR_calf_joint" />
<jointpos name="pos_FL_hip_joint" joint="FL_hip_joint" />
<jointpos name="pos_FL_thigh_joint" joint="FL_thigh_joint" />
<jointpos name="pos_FL_calf_joint" joint="FL_calf_joint" />
<jointpos name="pos_RR_hip_joint" joint="RR_hip_joint" />
<jointpos name="pos_RR_thigh_joint" joint="RR_thigh_joint" />
<jointpos name="pos_RR_calf_joint" joint="RR_calf_joint" />
<jointpos name="pos_RL_hip_joint" joint="RL_hip_joint" />
<jointpos name="pos_RL_thigh_joint" joint="RL_thigh_joint" />
<jointpos name="pos_RL_calf_joint" joint="RL_calf_joint" />
<touch name="FR_touch" site="FR"/>
<touch name="FL_touch" site="FL"/>
<touch name="RR_touch" site="RR"/>
<touch name="RL_touch" site="RL"/>
<!-- trace -->
<framepos name="trace0" objtype="site" objname="head"/>
<!-- residual -->
<subtreecom name="torso_subtreecom" body="trunk"/>
<subtreelinvel name="torso_subtreelinvel" body="trunk"/>
<subtreelinvel name="torso_angmom" body="trunk"/>
</sensor>
<keyframe>
<key name="home"
qpos="0 0 0.26
1 0 0 0
-0.000341931 0.0181576 -0.0268335
0.00160968 0.0247957 -0.0270045
0.00191398 -0.033048 -0.0675298
-0.00199489 -0.0374747 -0.0681862"/>
<key name="crouch"
qpos="-0.0501827 0.00107117 0.143925
1 0 0 0
0 0 -0.5
0 0 -0.5
0 0 -0.5
0 0 -0.5"/>
</keyframe>
</mujoco>