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task.xml
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<mujoco model="Quadrotor Racing">
<include file="../common.xml"/>
<include file="quadrotor.xml" />
<size memory="100K"/>
<statistic extent="2" center="0.0 0.0 0.0"/>
<custom>
<text name="task_transition" data="Loop|Stage1|Stage2|Stage3|Stage4|Stage5|Stage6|Stage7|Stage8|Stage9|Stage10|Stage11|Stage12" />
<numeric name="agent_planner" data="0" />
<numeric name="agent_horizon" data="0.5" />
<numeric name="agent_timestep" data="0.01" />
<numeric name="sampling_sample_width" data="0.01" />
<numeric name="sampling_control_width" data="0.015" />
<numeric name="sampling_spline_points" data="5" />
<numeric name="sampling_exploration" data="0.3" />
<numeric name="sampling_processed_noise" data="1" />
<numeric name="sampling_processed_noise_neighbors" data="3" />
<numeric name="sampling_processed_noise_passes" data="3" />
<numeric name="sampling_representation" data="2" />
<numeric name="sampling_trajectories" data="32" />
<numeric name="gradient_spline_points" data="5" />
<numeric name="residual_Lin. Vel. X" data="0 -1.0 1.0" />
<numeric name="residual_Lin. Vel. Y" data="0 -1.0 1.0" />
<numeric name="residual_Lin. Vel. Z" data="0 -1.0 1.0" />
<numeric name="residual_Ang. Vel. X" data="0 -1.0 1.0" />
<numeric name="residual_Ang. Vel. Y" data="0 -1.0 1.0" />
<numeric name="residual_Ang. Vel. Z" data="0 -1.0 1.0" />
</custom>
<sensor>
<user name="Position" dim="3" user="0 3.0 0 25.0"/>
<user name="Orientation" dim="9" user="0 0.5 0 5.0"/>
<user name="Lin. Vel." dim="3" user="0 0.3 0.0 5.0"/>
<user name="Ang. Vel." dim="3" user="0 0.3 0.0 5.0"/>
<user name="Control" dim="4" user="0 1.0e-2 0.0 1.0"/>
<framepos name="trace0" objtype="body" objname="quadrotor"/>
<framepos name="position" objtype="body" objname="quadrotor"/>
<framequat name="orientation" objtype="body" objname="quadrotor"/>
<framelinvel name="linear_velocity" objtype="body" objname="quadrotor"/>
<frameangvel name="angular_velocity" objtype="body" objname="quadrotor"/>
</sensor>
<keyframe>
<key name="home" mpos="0.0 0.0 0.5" mquat="0.0 0.70710678 0.0 0.70710678" />
<key mpos="1.2 0.0 0.5" mquat="0.0 0.70710678 0.0 0.70710678" />
<key mpos="2.3 0.6 1.5" mquat="0.0 0.70710678 0.0 0.70710678" />
<key mpos="2.7 0.95 1.5" mquat="0.0 0.70710678 0.0 0.70710678" />
<key mpos="4.6 0.4 0.75" mquat="0.0 0.70710678 0.0 0.70710678" />
<key mpos="5.0 -1.6 0.75" mquat="0.0 0.70710678 0.0 0.70710678" />
<key mpos="3.4 -2.5 0.35" mquat="0.0 0.70710678 0.0 0.70710678" />
<key mpos="2.5 -2.25 1.45" mquat="0.0 0.70710678 0.0 0.70710678" />
<key mpos="2.5 -2.25 2.25" mquat="0.0 0.70710678 0.0 0.70710678" />
<key mpos="1.5 -1.75 1.85" mquat="0.0 0.70710678 0.0 0.70710678" />
<key mpos="1.05 -1.75 1.3" mquat="0.0 0.70710678 0.0 0.70710678" />
<key mpos="0.1 -1.4 0.5" mquat="0.0 0.70710678 0.0 0.70710678" />
</keyframe>
</mujoco>