mjpc/tasks/hand/task.xml

<mujoco model="In-Hand Manipulation">
  <include file="../common.xml"/>

  <size memory="1M"/>

  <custom>
    <numeric name="agent_planner" data="0" />
    <numeric name="agent_horizon" data="0.25" />
    <numeric name="agent_timestep" data="0.01" />
    <numeric name="agent_policy_width" data="0.0035" />
    <numeric name="sampling_spline_points" data="6" />
    <numeric name="sampling_exploration" data="0.1" />
    <numeric name="gradient_spline_points" data="6" />
  </custom>

  <statistic extent="0.4" center="0.3 0.1 0"/>

  <visual>
    <quality shadowsize="8192"/>
    <global azimuth="180" elevation="-30"/>
  </visual>

  <default>
    <geom friction=".6"/>
  </default>

  <worldbody>
    <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 -0.2" size="0 0 0.05" type="plane" material="blue_grid"/>
    <body name="goal" pos="0.325 0.17 0.0475">
      <joint type="ball" damping="0.01"/>
      <geom type="box" size=".022 .022 .022" mass=".126" material="cube" contype="0" conaffinity="0"/>
    </body>
  </worldbody>

  <sensor>
    <user name="In Hand" dim="3" user="1 20 0 100 0.02 2"/>
    <user name="Orientation" dim="3" user="0 3 0 10" />
    <user name="Cube Vel." dim="3" user="0 10 0 20" />
    <user name="Actuator" dim="20" user="0 0.1 0.0 1.0" />
    <framepos name="palm_position" objtype="site" objname="grasp_site"/>
    <framequat name="cube_goal_orientation" objtype="body" objname="goal"/>
  </sensor>

  <include file="cube.xml"/>
  <include file="right_hand.xml"/>
</mujoco>