particle, swimmer, walker tasks

thowell · thowell · commit d47576731fe3 · 2024-01-20T15:00:01.000-07:00
diff --git a/mjpc/tasks/CMakeLists.txt b/mjpc/tasks/CMakeLists.txt
@@ -39,6 +39,27 @@ add_custom_target(
   COMMAND patch -o ${CMAKE_CURRENT_BINARY_DIR}/humanoid/humanoid_modified.xml
           ${CMAKE_CURRENT_BINARY_DIR}/humanoid/humanoid.xml
           <${CMAKE_CURRENT_SOURCE_DIR}/humanoid/humanoid.xml.patch
+  # particle
+  COMMAND ${CMAKE_COMMAND} -E copy
+          ${dm_control_SOURCE_DIR}/dm_control/suite/point_mass.xml
+          ${CMAKE_CURRENT_BINARY_DIR}/particle/particle.xml
+  COMMAND patch -o ${CMAKE_CURRENT_BINARY_DIR}/particle/particle_modified.xml
+          ${CMAKE_CURRENT_BINARY_DIR}/particle/particle.xml
+          <${CMAKE_CURRENT_SOURCE_DIR}/particle/particle.xml.patch
+  # swimmer
+  COMMAND ${CMAKE_COMMAND} -E copy
+          ${dm_control_SOURCE_DIR}/dm_control/suite/swimmer.xml
+          ${CMAKE_CURRENT_BINARY_DIR}/swimmer/swimmer.xml
+  COMMAND patch -o ${CMAKE_CURRENT_BINARY_DIR}/swimmer/swimmer_modified.xml
+          ${CMAKE_CURRENT_BINARY_DIR}/swimmer/swimmer.xml
+          <${CMAKE_CURRENT_SOURCE_DIR}/swimmer/swimmer.xml.patch
+  # walker
+  COMMAND ${CMAKE_COMMAND} -E copy
+          ${dm_control_SOURCE_DIR}/dm_control/suite/walker.xml
+          ${CMAKE_CURRENT_BINARY_DIR}/walker/walker.xml
+  COMMAND patch -o ${CMAKE_CURRENT_BINARY_DIR}/walker/walker_modified.xml
+          ${CMAKE_CURRENT_BINARY_DIR}/walker/walker.xml
+          <${CMAKE_CURRENT_SOURCE_DIR}/walker/walker.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/humanoid/humanoid.xml.patch b/mjpc/tasks/humanoid/humanoid.xml.patch
@@ -1,5 +1,6 @@
---- humanoid.xml	2024-01-20 14:42:53
-+++ modified.xml	2024-01-13 20:29:11
+diff --git a/humanoid_modified.xml b/humanoid_modified.xml
+--- a/humanoid_modified.xml
++++ b/humanoid_modified.xml
 @@ -1,202 +1,231 @@
 -<mujoco model="humanoid">
 -  <include file="./common/skybox.xml"/>
diff --git a/mjpc/tasks/particle/particle.xml b/mjpc/tasks/particle/particle.xml
diff --git a/mjpc/tasks/particle/particle.xml.patch b/mjpc/tasks/particle/particle.xml.patch
@@ -0,0 +1,57 @@
+diff --git a/particle_modified.xml b/particle_modified.xml
+--- a/particle_modified.xml
++++ b/particle_modified.xml
+@@ -1,9 +1,5 @@
+-<mujoco model="planar point mass">
+-  <include file="./common/skybox.xml"/>
+-  <include file="./common/visual.xml"/>
+-  <include file="./common/materials.xml"/>
+-
+-  <option timestep="0.02">
++<mujoco model="Particle">
++  <option timestep="0.01">
+     <flag contact="disable"/>
+   </option>
+ 
+@@ -13,9 +9,12 @@
+   </default>
+ 
+   <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>
+     <light name="light" pos="0 0 1"/>
+     <camera name="fixed" pos="0 0 .75" quat="1 0 0 0"/>
+-    <geom name="ground" type="plane" pos="0 0 0" size=".3 .3 .1" material="grid"/>
++    <geom name="ground" type="plane" pos="0 0 0" size=".3 .3 .1" material="blue_grid"/>
+     <geom name="wall_x" type="plane" pos="-.3 0 .02" zaxis="1 0 0"  size=".02 .3 .02" material="decoration"/>
+     <geom name="wall_y" type="plane" pos="0 -.3 .02" zaxis="0 1 0"  size=".3 .02 .02" material="decoration"/>
+     <geom name="wall_neg_x" type="plane" pos=".3 0 .02" zaxis="-1 0 0"  size=".02 .3 .02" material="decoration"/>
+@@ -26,24 +25,12 @@
+       <joint name="root_x" type="slide"  pos="0 0 0" axis="1 0 0" />
+       <joint name="root_y" type="slide"  pos="0 0 0" axis="0 1 0" />
+       <geom name="pointmass" type="sphere" size=".01" material="self" mass=".3"/>
++      <site name="tip" pos="0 0 0" size="0.01"/>
+     </body>
+-
+-    <geom name="target" pos="0 0 .01" material="target" type="sphere" size=".015"/>
+   </worldbody>
+ 
+-  <tendon>
+-    <fixed name="t1">
+-      <joint joint="root_x" coef="1"/>
+-      <joint joint="root_y" coef="0"/>
+-    </fixed>
+-    <fixed name="t2">
+-      <joint joint="root_x" coef="0"/>
+-      <joint joint="root_y" coef="1"/>
+-    </fixed>
+-  </tendon>
+-
+   <actuator>
+-    <motor name="t1" tendon="t1"/>
+-    <motor name="t2" tendon="t2"/>
++    <motor name="x_motor" joint="root_x" gear="1" ctrllimited="true" ctrlrange="-1 1"/>
++    <motor name="y_motor" joint="root_y" gear="1" ctrllimited="true" ctrlrange="-1 1"/>
+   </actuator>
+ </mujoco>
diff --git a/mjpc/tasks/particle/task.xml b/mjpc/tasks/particle/task.xml
@@ -1,6 +1,7 @@
 <mujoco model="Particle Control">
   <include file="../common.xml"/>
-  <include file="particle.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"/>
 
diff --git a/mjpc/tasks/particle/task_timevarying.xml b/mjpc/tasks/particle/task_timevarying.xml
@@ -1,6 +1,7 @@
 <mujoco model="Particle Control">
   <include file="../common.xml"/>
-  <include file="particle.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"/>
 
diff --git a/mjpc/tasks/swimmer/swimmer.xml b/mjpc/tasks/swimmer/swimmer.xml
diff --git a/mjpc/tasks/swimmer/swimmer.xml.patch b/mjpc/tasks/swimmer/swimmer.xml.patch
@@ -0,0 +1,110 @@
+diff --git a/swimmer_modified.xml b/swimmer_modified.xml
+--- a/swimmer_modified.xml
++++ b/swimmer_modified.xml
+@@ -1,38 +1,35 @@
+ <mujoco model="swimmer">
+-  <include file="./common/visual.xml"/>
+-  <include file="./common/skybox.xml"/>
+-  <include file="./common/materials.xml"/>
+-
+-  <option timestep="0.002" density="3000">
++  <option timestep="0.01" integrator="implicit" density="1000">
+     <flag contact="disable"/>
+   </option>
+ 
+   <default>
+     <default class="swimmer">
+-      <joint type="hinge" pos="0 -.05 0" axis="0 0 1" limited="true" solreflimit=".05 1" solimplimit="0 .8 .1" armature="1e-6"/>
++      <joint type="hinge" pos="0 -.05 0" axis="0 0 1" limited="true" solreflimit=".05 .3"
++             solimplimit="0 .8 .1" armature="1e-6" range="-90 90" stiffness=".001"/>
+       <default class="inertial">
+-        <geom type="box" size=".001 .05 .01" rgba="0 0 0 0" mass=".01"/>
++        <geom type="box" size=".001 .05 .01" material="self" mass=".01" group="3"/>
+       </default>
+       <default class="visual">
+-        <geom type="capsule" size=".01" fromto="0 -.05 0 0 .05 0" material="self" mass="0"/>
++        <geom type="capsule" size=".01" fromto="0 -.05 0 0 .05 0" mass="0" material="self"/>
+       </default>
+       <site size=".01" rgba="0 0 0 0"/>
+     </default>
+     <default class="free">
+       <joint limited="false" stiffness="0" armature="0"/>
+     </default>
+-    <motor gear="5e-4" ctrllimited="true" ctrlrange="-1 1"/>
++    <general gainprm="2e-3" ctrllimited="true" ctrlrange="-1 1" dyntype="filter" dynprm="0.6"/>
+   </default>
+ 
+   <worldbody>
+-    <geom name="ground" type="plane" size="2 2 0.1" material="grid"/>
++    <geom name="ground" type="plane" size="2 2 0.01" material="blue_grid"/>
+     <body name="head" pos="0 0 .05" childclass="swimmer">
+       <light name="light_1" diffuse=".8 .8 .8" pos="0 0 1.5"/>
+-      <geom name="head" type="ellipsoid" size=".02 .04 .017" pos="0 -.022 0"  material="self" mass="0"/>
+-      <geom name="nose" type="sphere" pos="0 -.06 0" size=".004" material="effector" mass="0"/>
+-      <geom name="eyes" type="capsule" fromto="-.006 -.054 .005 .006 -.054 .005" size=".004" material="eye" mass="0"/>
+-      <camera name="tracking1" pos="0 -.2 .5" xyaxes="1 0 0 0 1 1" mode="trackcom" fovy="60"/>
+-      <camera name="tracking2" pos="-.9 .5 .15" xyaxes="0 -1 0 .3 0 1" mode="trackcom" fovy="60"/>
++      <geom name="head" type="ellipsoid" size=".02 .04 .017" pos="0 -.022 0" mass="0" material="self"/>
++      <geom name="nose" type="sphere" pos="0 -.06 0" size=".004" mass="0" material="effector" euler="180 0 0"/>
++      <geom name="eyes" type="capsule" fromto="-.006 -.054 .005 .006 -.054 .005" size=".004" mass="0" material="eye"/>
++      <camera name="tracking1" pos="0.0 -0.2 0.5" xyaxes="1 0 0 0 1 1" mode="trackcom" fovy="60"/>
++      <camera name="tracking2" pos="-0.9 0.5 0.15" xyaxes="0 -1 0 .3 0 1" mode="trackcom" fovy="60"/>
+       <camera name="eyes" pos="0 -.058 .005" xyaxes="-1 0 0 0 0 1"/>
+       <joint name="rootx" class="free" type="slide" axis="1 0 0" pos="0 -.05 0"/>
+       <joint name="rooty" class="free" type="slide" axis="0 1 0" pos="0 -.05 0"/>
+@@ -40,18 +37,45 @@
+       <geom name="inertial" class="inertial"/>
+       <geom name="visual" class="visual"/>
+       <site name="head"/>
++      <body name="segment_0" pos="0 .1 0">
++        <geom class="visual" name="visual_0"/>
++        <geom class="inertial" name="inertial_0"/>
++        <site name="site_0"/>
++        <joint name="joint_0"/>
++        <body name="segment_1" pos="0 .1 0">
++          <geom class="visual" name="visual_1"/>
++          <geom class="inertial" name="inertial_1"/>
++          <site name="site_1"/>
++          <joint name="joint_1"/>
++          <body name="segment_2" pos="0 .1 0">
++            <geom class="visual" name="visual_2"/>
++            <geom class="inertial" name="inertial_2"/>
++            <site name="site_2"/>
++            <joint name="joint_2"/>
++            <body name="segment_3" pos="0 .1 0">
++              <geom class="visual" name="visual_3"/>
++              <geom class="inertial" name="inertial_3"/>
++              <site name="site_3"/>
++              <joint name="joint_3"/>
++              <body name="segment_4" pos="0 .1 0">
++                <geom class="visual" name="visual_4"/>
++                <geom class="inertial" name="inertial_4"/>
++                <site name="site_4"/>
++                <joint name="joint_4"/>
++              </body>
++            </body>
++          </body>
++        </body>
++      </body>
+     </body>
+-    <geom name="target" type="sphere" pos="1 1 .05" size=".1" material="target"/>
+-    <light name="target_light" diffuse="1 1 1" pos="1 1 1.5"/>
+   </worldbody>
+ 
+-  <sensor>
+-    <framepos name="nose_pos" objtype="geom" objname="nose"/>
+-    <framepos name="target_pos" objtype="geom" objname="target"/>
+-    <framexaxis name="head_xaxis" objtype="xbody" objname="head"/>
+-    <frameyaxis name="head_yaxis" objtype="xbody" objname="head"/>
+-    <velocimeter name="head_vel" site="head"/>
+-    <gyro name="head_gyro" site="head"/>
+-  </sensor>
++  <actuator>
++    <general name="0" joint="joint_0"/>
++    <general name="1" joint="joint_1"/>
++    <general name="2" joint="joint_2"/>
++    <general name="3" joint="joint_3"/>
++    <general name="4" joint="joint_4"/>
++  </actuator>
+ 
+ </mujoco>
diff --git a/mjpc/tasks/swimmer/task.xml b/mjpc/tasks/swimmer/task.xml
@@ -1,6 +1,7 @@
 <mujoco model="Swimmer">
   <include file="../common.xml" />
-  <include file="swimmer.xml" />
+  <!-- modified from: https://github.com/google-deepmind/dm_control/blob/main/dm_control/suite/swimmer.xml -->
+  <include file="swimmer_modified.xml" />
 
   <custom>
     <!-- agent -->
diff --git a/mjpc/tasks/walker/task.xml b/mjpc/tasks/walker/task.xml
@@ -1,6 +1,7 @@
 <mujoco model="Walker Locomotion">
   <include file="../common.xml"/>
-  <include file="walker.xml" />
+  <!-- modified from: https://github.com/google-deepmind/dm_control/blob/main/dm_control/suite/walker.xml -->
+  <include file="walker_modified.xml" />
 
   <size memory="100K"/>
 
diff --git a/mjpc/tasks/walker/walker.xml b/mjpc/tasks/walker/walker.xml
diff --git a/mjpc/tasks/walker/walker.xml.patch b/mjpc/tasks/walker/walker.xml.patch
