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Cube patch for hand task #289

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merged 7 commits into from
Feb 19, 2024
Merged

Cube patch for hand task #289

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2657b24
cube patch for hand task
thowell Feb 12, 2024
b269fe3
Merge branch 'main' into hand_cube_patch
thowell Feb 13, 2024
9207e19
Merge branch 'main' into hand_cube_patch
thowell Feb 13, 2024
aaad185
Merge branch 'main' into hand_cube_patch
thowell Feb 16, 2024
660a20d
Merge branch 'main' into hand_cube_patch
thowell Feb 16, 2024
4b78a26
fix merge
thowell Feb 18, 2024
32b3e0d
change cube_modified
thowell Feb 18, 2024
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7 changes: 7 additions & 0 deletions mjpc/tasks/CMakeLists.txt
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Expand Up @@ -110,6 +110,13 @@ add_custom_target(
COMMAND patch -o ${CMAKE_CURRENT_BINARY_DIR}/quadrotor/quadrotor_modified.xml
${CMAKE_CURRENT_BINARY_DIR}/quadrotor/quadrotor.xml
<${CMAKE_CURRENT_SOURCE_DIR}/quadrotor/quadrotor.xml.patch

## Cube reorientation
# patch cube from common assets
COMMAND patch -o ${CMAKE_CURRENT_BINARY_DIR}/hand/cube_modified.xml
${CMAKE_CURRENT_BINARY_DIR}/common_assets/reorientation_cube.xml
<${CMAKE_CURRENT_SOURCE_DIR}/hand/cube.xml.patch

## Cube solve task
# copy cube model from MuJoCo
COMMAND ${CMAKE_COMMAND} -E copy
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14 changes: 14 additions & 0 deletions mjpc/tasks/hand/cube.xml.patch
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@@ -0,0 +1,14 @@
mjpc/tasks/cube.xml.patch--- common_assets/reorientation_cube.xml 2024-02-11 18:42:07
+++ hand/cube.xml 2024-02-12 14:52:27
@@ -19,9 +19,9 @@
</asset>
<worldbody>
<light pos="0 0 1"/>
- <body name="cube" pos="0.2 0.0 0.075" quat="1 0 0 0">
+ <body name="cube" pos="0.325 0.0 0.075" quat="0.707 0.707 0 0">
<freejoint/>
- <geom name="cube" type="box" size=".03 .03 .03" mass=".122" material="cube"/>
+ <geom name="cube" type="box" size=".022 .022 .022" mass=".126" material="cube"/>
</body>
</worldbody>

3 changes: 2 additions & 1 deletion mjpc/tasks/hand/task.xml
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Expand Up @@ -46,7 +46,8 @@
<framequat name="cube_goal_orientation" objtype="body" objname="goal"/>
</sensor>

<include file="../common_assets/reorientation_cube.xml"/>
<!-- from: common_assests -->
<include file="cube_modified.xml"/>
<!-- from: https://github.com/google-deepmind/mujoco_menagerie/tree/main/shadow_hand -->
<include file="right_hand.xml"/>

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