Move trace sensors to the specific tasks.

PiperOrigin-RevId: 607840037 Change-Id: I17d3599b0b6d33b31f2017a0dd0aeedb4aae935d
google-deepmind · Feb 17, 2024 · dfbf002 · dfbf002
1 parent 35f774c
commit dfbf002
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Showing 3 changed files with 2 additions and 1 deletion.
diff --git a/mjpc/tasks/allegro/task.xml b/mjpc/tasks/allegro/task.xml
@@ -58,6 +58,7 @@
     <!-- Measurements we want to use -->
     <framepos name="cube_goal_position" objtype="site" objname="grasp_site"/>
     <framequat name="cube_goal_orientation" objtype="body" objname="goal"/>
+    <framepos name="trace0" objtype="body" objname="cube"/>
   </sensor>
 
   <include file="../common_assets/reorientation_cube.xml"/>

diff --git a/mjpc/tasks/common_assets/reorientation_cube.xml b/mjpc/tasks/common_assets/reorientation_cube.xml
@@ -26,7 +26,6 @@
   </worldbody>
 
    <sensor>
-        <framepos name="trace0" objtype="body" objname="cube"/>
         <framepos name="cube_position" objtype="body" objname="cube"/>
         <framequat name="cube_orientation" objtype="body" objname="cube"/>
         <framelinvel name="cube_linear_velocity" objtype="body" objname="cube"/>

diff --git a/mjpc/tasks/shadow_reorient/task.xml b/mjpc/tasks/shadow_reorient/task.xml
@@ -44,6 +44,7 @@
     <user name="Joint Vel." dim="26" user="0 1.0e-4 0.0 1.0e-1" />
     <framepos name="palm_position" objtype="site" objname="grasp_site"/>
     <framequat name="cube_goal_orientation" objtype="body" objname="goal"/>
+    <framepos name="trace0" objtype="body" objname="cube"/>
   </sensor>
 
   <include file="../common_assets/reorientation_cube.xml"/>