Merge pull request #289 from thowell/hand_cube_patch

Cube patch for hand task
google-deepmind · Feb 19, 2024 · 42eef44 · keszegrobert · Nov 19, 2024 · 42eef44
2 parents e83b7d3 + 32b3e0d
commit 42eef44
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Showing 3 changed files with 22 additions and 1 deletion.
diff --git a/mjpc/tasks/CMakeLists.txt b/mjpc/tasks/CMakeLists.txt
@@ -116,6 +116,12 @@ add_custom_target(
           ${CMAKE_CURRENT_BINARY_DIR}/quadrotor/quadrotor.xml
           <${CMAKE_CURRENT_SOURCE_DIR}/quadrotor/quadrotor.xml.patch
 
+  ## Cube reorientation 
+  # patch cube from common assets
+  COMMAND patch -o ${CMAKE_CURRENT_BINARY_DIR}/common_assets/cube_modified_shadow_reorient.xml
+          ${CMAKE_CURRENT_BINARY_DIR}/common_assets/reorientation_cube.xml
+          <${CMAKE_CURRENT_SOURCE_DIR}/shadow_reorient/cube.xml.patch
+
   ## Cube solve task
   # copy cube model from MuJoCo
   COMMAND ${CMAKE_COMMAND} -E copy

diff --git a/mjpc/tasks/shadow_reorient/cube.xml.patch b/mjpc/tasks/shadow_reorient/cube.xml.patch
@@ -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>
+
diff --git a/mjpc/tasks/shadow_reorient/task.xml b/mjpc/tasks/shadow_reorient/task.xml
@@ -47,7 +47,8 @@
     <framepos name="trace0" objtype="body" objname="cube"/>
   </sensor>
 
-  <include file="../common_assets/reorientation_cube.xml"/>
+  <!-- from: common_assets -->
+  <include file="../common_assets/cube_modified_shadow_reorient.xml"/>
   <!-- from: https://github.com/google-deepmind/mujoco_menagerie/tree/main/shadow_hand -->
   <include file="right_hand.xml"/>