Task name change: cube->rubik

PiperOrigin-RevId: 607648728
Change-Id: I1da4d4ef8ee62ad7b70de0ccef3a72f0e26a5d4a

Author: erez-tom

mjpc/tasks/CMakeLists.txt

@@ -68,15 +68,17 @@ add_custom_target(
   COMMAND ${CMAKE_COMMAND} -E copy
           ${menagerie_SOURCE_DIR}/wonik_allegro/right_hand.xml
           ${CMAKE_CURRENT_BINARY_DIR}/allegro/right_hand.xml
+  COMMAND ${CMAKE_COMMAND} -E copy_directory
+          ${menagerie_SOURCE_DIR}/shadow_hand/assets
+          ${CMAKE_CURRENT_BINARY_DIR}/shadow_reorient/assets
+
   COMMAND ${CMAKE_COMMAND} -E copy_directory
           ${menagerie_SOURCE_DIR}/wonik_allegro/assets
           ${CMAKE_CURRENT_BINARY_DIR}/allegro/assets
   COMMAND patch -o ${CMAKE_CURRENT_BINARY_DIR}/allegro/right_hand_modified.xml
           ${CMAKE_CURRENT_BINARY_DIR}/allegro/right_hand.xml
           <${CMAKE_CURRENT_SOURCE_DIR}/allegro/right_hand.xml.patch
-  COMMAND ${CMAKE_COMMAND} -E copy_directory
-          ${menagerie_SOURCE_DIR}/shadow_hand/assets
-          ${CMAKE_CURRENT_BINARY_DIR}/shadow_reorient/assets
+
   COMMAND ${CMAKE_COMMAND} -E copy
           ${menagerie_SOURCE_DIR}/franka_emika_panda/panda.xml
           ${CMAKE_CURRENT_BINARY_DIR}/panda/panda.xml
@@ -86,6 +88,7 @@ add_custom_target(
   COMMAND patch -o ${CMAKE_CURRENT_BINARY_DIR}/panda/panda_modified.xml
           ${CMAKE_CURRENT_BINARY_DIR}/panda/panda.xml
           <${CMAKE_CURRENT_SOURCE_DIR}/panda/panda.xml.patch
+
   COMMAND ${CMAKE_COMMAND} -E copy
           ${menagerie_SOURCE_DIR}/unitree_a1/a1.xml
           ${CMAKE_CURRENT_BINARY_DIR}/quadruped/a1.xml
@@ -95,12 +98,14 @@ add_custom_target(
   COMMAND patch -o ${CMAKE_CURRENT_BINARY_DIR}/quadruped/a1_modified.xml
           ${CMAKE_CURRENT_BINARY_DIR}/quadruped/a1.xml
           <${CMAKE_CURRENT_SOURCE_DIR}/quadruped/a1.xml.patch
+
   COMMAND ${CMAKE_COMMAND} -E copy_directory
           ${menagerie_SOURCE_DIR}/franka_emika_panda
           ${CMAKE_CURRENT_BINARY_DIR}/manipulation
   COMMAND ${CMAKE_COMMAND} -E copy_directory
           ${menagerie_SOURCE_DIR}/robotiq_2f85
           ${CMAKE_CURRENT_BINARY_DIR}/manipulation
+
   COMMAND ${CMAKE_COMMAND} -E copy
           ${menagerie_SOURCE_DIR}/skydio_x2/x2.xml
           ${CMAKE_CURRENT_BINARY_DIR}/quadrotor/quadrotor.xml
@@ -110,31 +115,32 @@ 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 solve task
   # copy cube model from MuJoCo
   COMMAND ${CMAKE_COMMAND} -E copy
           ${mujoco_SOURCE_DIR}/model/cube/cube_3x3x3.xml
-          ${CMAKE_CURRENT_BINARY_DIR}/cube/cube_3x3x3.xml
+          ${CMAKE_CURRENT_BINARY_DIR}/rubik/cube_3x3x3.xml
   # copy cube assets from MuJoCo
   COMMAND ${CMAKE_COMMAND} -E copy_directory
           ${mujoco_SOURCE_DIR}/model/cube/assets
-          ${CMAKE_CURRENT_BINARY_DIR}/cube/assets
+          ${CMAKE_CURRENT_BINARY_DIR}/rubik/assets
   # modified cube model for task
-  COMMAND patch -o ${CMAKE_CURRENT_BINARY_DIR}/cube/cube_3x3x3_modified.xml
-          ${CMAKE_CURRENT_BINARY_DIR}/cube/cube_3x3x3.xml
-          <${CMAKE_CURRENT_SOURCE_DIR}/cube/cube_3x3x3.xml.patch
+  COMMAND patch -o ${CMAKE_CURRENT_BINARY_DIR}/rubik/cube_3x3x3_modified.xml
+          ${CMAKE_CURRENT_BINARY_DIR}/rubik/cube_3x3x3.xml
+          <${CMAKE_CURRENT_SOURCE_DIR}/rubik/cube_3x3x3.xml.patch
   # modified cube model to transition model for scramble mode
-  COMMAND patch -o ${CMAKE_CURRENT_BINARY_DIR}/cube/transition_model.xml
-          ${CMAKE_CURRENT_BINARY_DIR}/cube/cube_3x3x3.xml
-          <${CMAKE_CURRENT_SOURCE_DIR}/cube/transition_model.xml.patch
+  COMMAND patch -o ${CMAKE_CURRENT_BINARY_DIR}/rubik/transition_model.xml
+          ${CMAKE_CURRENT_BINARY_DIR}/rubik/cube_3x3x3.xml
+          <${CMAKE_CURRENT_SOURCE_DIR}/rubik/transition_model.xml.patch
   # copy hand model from Menagerie
   COMMAND ${CMAKE_COMMAND} -E copy
           ${menagerie_SOURCE_DIR}/shadow_hand/right_hand.xml
-          ${CMAKE_CURRENT_BINARY_DIR}/cube/right_hand.xml
+          ${CMAKE_CURRENT_BINARY_DIR}/rubik/right_hand.xml
   # copy hand assets from Menagerie
   COMMAND ${CMAKE_COMMAND} -E copy_directory
           ${menagerie_SOURCE_DIR}/shadow_hand/assets
-          ${CMAKE_CURRENT_BINARY_DIR}/cube/assets
+          ${CMAKE_CURRENT_BINARY_DIR}/rubik/assets
 
   # ALOHA
   COMMAND ${CMAKE_COMMAND} -E copy_directory

mjpc/tasks/cube/cube_3x3x3.xml.patch renamed to mjpc/tasks/rubik/cube_3x3x3.xml.patch

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "mjpc/tasks/cube/solve.h"
+#include "mjpc/tasks/rubik/solve.h"
 
 #include <algorithm>
 #include <iostream>
@@ -27,12 +27,14 @@ namespace {
   constexpr static double kResetHeight = -0.1;  // cube height to reset
 }  // namespace
 
-std::string CubeSolve::XmlPath() const { return GetModelPath("cube/task.xml"); }
-std::string CubeSolve::Name() const { return "Cube Solving"; }
+std::string Rubik::XmlPath() const {
+  return GetModelPath("rubik/task.xml");
+}
+std::string Rubik::Name() const { return "Rubik"; }
 
-CubeSolve::CubeSolve() : residual_(this) {
+Rubik::Rubik() : residual_(this) {
   // path to transition model xml
-  std::string path = GetModelPath("cube/transition_model.xml");
+  std::string path = GetModelPath("rubik/transition_model.xml");
 
   // load transition model
   constexpr int kErrorLength = 1024;
@@ -46,15 +48,15 @@ CubeSolve::CubeSolve() : residual_(this) {
   std::fill(goal_cache_.begin(), goal_cache_.end(), 0.0);
 }
 
-CubeSolve::~CubeSolve() {
+Rubik::~Rubik() {
   if (transition_data_) mj_deleteData(transition_data_);
   if (transition_model_) mj_deleteModel(transition_model_);
 }
 
 // ---------- Residuals for cube solving manipulation task ----
 //   Number of residuals:
 // ------------------------------------------------------------
-void CubeSolve::ResidualFn::Residual(const mjModel* model, const mjData* data,
+void Rubik::ResidualFn::Residual(const mjModel* model, const mjData* data,
                                      double* residual) const {
   // initialize counter
   int counter = 0;
@@ -135,7 +137,7 @@ void CubeSolve::ResidualFn::Residual(const mjModel* model, const mjData* data,
 //   If cube is within tolerance or floor ->
 //   reset cube into hand.
 // ---------------------------------------------------------
-void CubeSolve::TransitionLocked(mjModel* model, mjData* data) {
+void Rubik::TransitionLocked(mjModel* model, mjData* data) {
   if (transition_model_) {
     if (mode == kModeWait) {
       weight[11] = .01;  // add penalty on joint movement

mjpc/tasks/cube/solve.cc renamed to mjpc/tasks/rubik/solve.cc

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MJPC_TASKS_CUBE_SOLVE_H_
-#define MJPC_TASKS_CUBE_SOLVE_H_
+#ifndef MJPC_TASKS_RUBIK_SOLVE_H_
+#define MJPC_TASKS_RUBIK_SOLVE_H_
 
 #include <algorithm>
 #include <memory>
@@ -25,14 +25,14 @@
 
 namespace mjpc {
 
-class CubeSolve : public Task {
+class Rubik : public Task {
  public:
   std::string Name() const override;
   std::string XmlPath() const override;
 
   class ResidualFn : public BaseResidualFn {
    public:
-    explicit ResidualFn(const CubeSolve* task, int current_mode = 0,
+    explicit ResidualFn(const Rubik* task, int current_mode = 0,
                         int goal_index = 0)
         : BaseResidualFn(task),
           current_mode_(current_mode),
@@ -41,18 +41,18 @@ class CubeSolve : public Task {
                   double* residual) const override;
 
    private:
-    friend class CubeSolve;
+    friend class Rubik;
     int current_mode_ = 0;
     int goal_index_ = 0;
   };
 
-  CubeSolve();
-  ~CubeSolve();
+  Rubik();
+  ~Rubik();
 
   void TransitionLocked(mjModel* model, mjData* data) override;
 
   // modes
-  enum CubeSolveMode {
+  enum RubikMode {
     kModeScramble = 0,
     kModeSolve,
     kModeWait,
@@ -78,4 +78,4 @@ class CubeSolve : public Task {
 
 }  // namespace mjpc
 
-#endif  // MJPC_TASKS_CUBE_SOLVE_H_
+#endif  // MJPC_TASKS_RUBIK_SOLVE_H_

mjpc/tasks/cube/solve.h renamed to mjpc/tasks/rubik/solve.h

@@ -22,7 +22,6 @@
 #include "mjpc/tasks/allegro/allegro.h"
 #include "mjpc/tasks/bimanual/bimanual.h"
 #include "mjpc/tasks/cartpole/cartpole.h"
-#include "mjpc/tasks/cube/solve.h"
 #include "mjpc/tasks/fingers/fingers.h"
 #include "mjpc/tasks/humanoid/stand/stand.h"
 #include "mjpc/tasks/humanoid/tracking/tracking.h"
@@ -34,6 +33,7 @@
 #include "mjpc/tasks/particle/particle.h"
 #include "mjpc/tasks/quadrotor/quadrotor.h"
 #include "mjpc/tasks/quadruped/quadruped.h"
+#include "mjpc/tasks/rubik/solve.h"
 #include "mjpc/tasks/shadow_reorient/hand.h"
 #include "mjpc/tasks/swimmer/swimmer.h"
 #include "mjpc/tasks/walker/walker.h"
@@ -45,7 +45,6 @@ std::vector<std::shared_ptr<Task>> GetTasks() {
       std::make_shared<Acrobot>(),
       std::make_shared<Allegro>(),
       std::make_shared<Bimanual>(),
-      std::make_shared<CubeSolve>(),
       std::make_shared<Cartpole>(),
       std::make_shared<Fingers>(),
       std::make_shared<humanoid::Stand>(),
@@ -57,6 +56,7 @@ std::vector<std::shared_ptr<Task>> GetTasks() {
       std::make_shared<Panda>(),
       std::make_shared<Particle>(),
       std::make_shared<ParticleFixed>(),
+      std::make_shared<Rubik>(),
       std::make_shared<ShadowReorient>(),
       std::make_shared<Quadrotor>(),
       std::make_shared<QuadrupedFlat>(),