task.xml

<mujoco model="Humanoid">
  <include file="../../common.xml"/>
  <!-- modified from: https://github.com/google-deepmind/dm_control/blob/main/dm_control/suite/humanoid.xml -->
  <include file="../humanoid_modified.xml" />
  <size memory="400K"/>

  <custom>
    <numeric name="agent_planner" data="0" />
    <numeric name="agent_horizon" data="0.35" />
    <numeric name="agent_timestep" data="0.015" />
    <numeric name="sampling_spline_points" data="3" />
    <numeric name="sampling_exploration" data="0.05" />
    <numeric name="gradient_spline_points" data="5" />
    <numeric name="residual_Height Goal" data="1.4 0.0 1.5" />
  </custom>

  <sensor>
    <user name="Height" dim="1" user="6 100.0 0.0 100.0 0.1" />
    <user name="Balance" dim="1" user="6 50.0 0.0 100.0 0.1" />
    <user name="CoM Vel." dim="2" user="0 10.0 0.0 100.0" />
    <user name="Joint Vel." dim="21" user="0 0.01 0.0 0.1" />
    <user name="Control" dim="21" user="3 0.025 0.0 0.1 0.3" />
    <framepos name="trace0" objtype="body" objname="torso"/>
    <framepos name="torso_position" objtype="body" objname="torso"/>
    <framepos name="head_position" objtype="body" objname="head"/>
    <framequat name="head_orientation" objtype="body" objname="head"/>
    <framezaxis name="torso_zaxis" objtype="body" objname="torso"/>
    <subtreelinvel name="torso_subtreelinvel" body="torso"/>
    <subtreecom name="torso_subtreecom" body="torso"/>
    <framexaxis name="torso_forward" objtype="body" objname="torso" />
    <framepos name="sp0" objtype="site" objname="sp0"/>
    <framepos name="sp1" objtype="site" objname="sp1"/>
    <framepos name="sp2" objtype="site" objname="sp2"/>
    <framepos name="sp3" objtype="site" objname="sp3"/>
    <subtreelinvel name="foot_right_vel" body="foot_right"/>
    <subtreelinvel name="foot_left_vel" body="foot_left"/>
  </sensor>
</mujoco>