custom numeric data in xml is no longer a part of scene but rather agent

tartavull · Feb 11, 2024 · e3db984 · e3db984
1 parent ff8c00e
commit e3db984
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Showing 5 changed files with 32 additions and 15 deletions.
diff --git a/alfredo/agents/A1/a1.xml b/alfredo/agents/A1/a1.xml
@@ -1,5 +1,19 @@
 <agent>
 
+    <custom>
+        <numeric data="2500" name="constraint_limit_stiffness" />
+        <numeric data="27000" name="constraint_stiffness" />
+        <numeric data="30" name="constraint_ang_damping" />
+        <numeric data="80" name="constraint_vel_damping" />
+        <numeric data="-0.05" name="ang_damping" />
+        <numeric data="0.5" name="joint_scale_pos" />
+        <numeric data="0.1" name="joint_scale_ang" />
+        <numeric data="0" name="spring_mass_scale" />
+        <numeric data="1" name="spring_inertia_scale" />
+        <numeric data="20" name="matrix_inv_iterations" />
+        <numeric data="15" name="solver_maxls" />
+    </custom>
+
     <body name="alfredo" pos="0 0 1.4">
         <camera name="followme" mode="trackcom" pos="0 -4 0" xyaxes="1 0 0 0 0 1" />
 

diff --git a/alfredo/agents/aant/aant.py b/alfredo/agents/aant/aant.py
@@ -57,7 +57,7 @@ def __init__(self,
 
         super().__init__(sys=sys, backend=backend, **kwargs)
 
-        print(sys)
+        print(self.sys.init_q)
 
         self._ctrl_cost_weight = ctrl_cost_weight
         self._use_contact_forces = use_contact_forces

diff --git a/alfredo/agents/aant/aant.xml b/alfredo/agents/aant/aant.xml
@@ -1,5 +1,19 @@
 <agent>
 
+    <custom>
+      <numeric data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" name="init_qpos"/>
+      <numeric data="1000" name="constraint_limit_stiffness"/>
+      <numeric data="4000" name="constraint_stiffness"/>
+      <numeric data="10" name="constraint_ang_damping"/>
+      <numeric data="20" name="constraint_vel_damping"/>
+      <numeric data="0.5" name="joint_scale_pos"/>
+      <numeric data="0.2" name="joint_scale_ang"/>
+      <numeric data="0.0" name="ang_damping"/>
+      <numeric data="1" name="spring_mass_scale"/>
+      <numeric data="1" name="spring_inertia_scale"/>
+      <numeric data="15" name="solver_maxls"/>
+    </custom>
+
     <body name="torso" pos="0 0 0.75">
       <camera name="track" mode="trackcom" pos="0 -3 0.3" xyaxes="1 0 0 0 0 1"/>
       <geom name="torso_geom" pos="0 0 0" size="0.25" type="sphere"/>

diff --git a/alfredo/scenes/flatworld/flatworld_A1_env.xml b/alfredo/scenes/flatworld/flatworld_A1_env.xml
@@ -10,20 +10,6 @@
 
     <option iterations="30" timestep="0.002" />
 
-    <custom>
-        <numeric data="2500" name="constraint_limit_stiffness" />
-        <numeric data="27000" name="constraint_stiffness" />
-        <numeric data="30" name="constraint_ang_damping" />
-        <numeric data="80" name="constraint_vel_damping" />
-        <numeric data="-0.05" name="ang_damping" />
-        <numeric data="0.5" name="joint_scale_pos" />
-        <numeric data="0.1" name="joint_scale_ang" />
-        <numeric data="0" name="spring_mass_scale" />
-        <numeric data="1" name="spring_inertia_scale" />
-        <numeric data="20" name="matrix_inv_iterations" />
-        <numeric data="15" name="solver_maxls" />
-    </custom>
-
     <size nkey="5" nuser_geom="1" />
 
     <visual>

diff --git a/alfredo/tools/tXMLCompose.py b/alfredo/tools/tXMLCompose.py
@@ -15,10 +15,13 @@ def compose_scene(xml_env, xml_agent):
     worldbody = env_root.find('worldbody')
 
     ag_root = agent_tree.getroot()
+    ag_custom = ag_root.find('custom')
     ag_body = ag_root.find('body')
     ag_actuator = ag_root.find('actuator')
 
+
     worldbody.append(ag_body)
+    env_root.append(ag_custom)
     env_root.append(ag_actuator)
 
     beautify(env_root)