cartpole task

thowell · thowell · commit 2ef11bb3976f · 2024-01-20T14:39:20.000-07:00
diff --git a/mjpc/tasks/CMakeLists.txt b/mjpc/tasks/CMakeLists.txt
@@ -25,7 +25,13 @@ add_custom_target(
   COMMAND patch -o ${CMAKE_CURRENT_BINARY_DIR}/acrobot/acrobot_modified.xml
           ${CMAKE_CURRENT_BINARY_DIR}/acrobot/acrobot.xml
           <${CMAKE_CURRENT_SOURCE_DIR}/acrobot/acrobot.xml.patch
-  
+  # cartpole
+  COMMAND ${CMAKE_COMMAND} -E copy
+          ${dm_control_SOURCE_DIR}/dm_control/suite/cartpole.xml
+          ${CMAKE_CURRENT_BINARY_DIR}/cartpole/cartpole.xml
+  COMMAND patch -o ${CMAKE_CURRENT_BINARY_DIR}/cartpole/cartpole_modified.xml
+          ${CMAKE_CURRENT_BINARY_DIR}/cartpole/cartpole.xml
+          <${CMAKE_CURRENT_SOURCE_DIR}/cartpole/cartpole.xml.patch
   COMMAND ${CMAKE_COMMAND} -E copy
           ${menagerie_SOURCE_DIR}/shadow_hand/right_hand.xml
           ${CMAKE_CURRENT_BINARY_DIR}/hand/right_hand.xml
diff --git a/mjpc/tasks/cartpole/cartpole.xml b/mjpc/tasks/cartpole/cartpole.xml
diff --git a/mjpc/tasks/cartpole/cartpole.xml.patch b/mjpc/tasks/cartpole/cartpole.xml.patch
@@ -0,0 +1,37 @@
+diff --git a/cartpole_modified.xml b/cartpole_modified.xml
+--- a/cartpole_modified.xml
++++ b/cartpole_modified.xml
+@@ -1,10 +1,6 @@
+-<mujoco model="cart-pole">
+-  <include file="./common/skybox.xml"/>
+-  <include file="./common/visual.xml"/>
+-  <include file="./common/materials.xml"/>
+-
+-  <option timestep="0.01" integrator="RK4">
+-    <flag contact="disable" energy="enable"/>
++<mujoco model="Cartpole">
++  <option timestep="0.001">
++    <flag contact="disable"/>
+   </option>
+ 
+   <default>
+@@ -18,15 +14,16 @@
+     <light name="light" pos="0 0 6"/>
+     <camera name="fixed" pos="0 -4 1" zaxis="0 -1 0"/>
+     <camera name="lookatcart" mode="targetbody" target="cart" pos="0 -2 2"/>
+-    <geom name="floor" pos="0 0 -.05" size="4 4 .2" type="plane" material="grid"/>
++    <geom name="floor" pos="0 0 -.05" size="4 4 .2" type="plane" material="blue_grid"/>
+     <geom name="rail1" type="capsule" pos="0  .07 1" zaxis="1 0 0" size="0.02 2" material="decoration" />
+     <geom name="rail2" type="capsule" pos="0 -.07 1" zaxis="1 0 0" size="0.02 2" material="decoration" />
+     <body name="cart" pos="0 0 1">
+-      <joint name="slider" type="slide" limited="true" axis="1 0 0" range="-1.8 1.8" solreflimit=".08 1" damping="5e-4"/>
++      <joint name="slider" type="slide" limited="true" axis="1 0 0" range="-1.8 1.8" solreflimit=".08 1" damping="1.0e-4"/>
+       <geom name="cart" type="box" size="0.2 0.15 0.1" material="self"  mass="1"/>
+       <body name="pole_1" childclass="pole">
+-        <joint name="hinge_1"/>
++        <joint name="hinge_1" damping="1.0e-4"/>
+         <geom name="pole_1"/>
++        <site name="tip" pos="0 0 1"/>
+       </body>
+     </body>
+   </worldbody>
diff --git a/mjpc/tasks/cartpole/task.xml b/mjpc/tasks/cartpole/task.xml
@@ -1,6 +1,7 @@
 <mujoco model="Cart-Pole Swing-Up">
   <include file="../common.xml"/>
-  <include file="cartpole.xml" />
+  <!-- modified from: https://github.com/google-deepmind/dm_control/blob/main/dm_control/suite/cartpole.xml -->
+  <include file="cartpole_modified.xml" />
 
   <size memory="4K"/>
 
