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erez-tomerez-tom
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Merge pull request #285 from google-deepmind/deepmind
Merge deepmind branch into main.
2 parents 7476409 + a771b56 commit 189c25c

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20 files changed

+52
-71
lines changed

20 files changed

+52
-71
lines changed

‎mjpc/grpc/CMakeLists.txt‎

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@@ -22,6 +22,12 @@ set(BUILD_SHARED_LIBS
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find_package(ZLIB REQUIRED)
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set(gRPC_ZLIB_PROVIDER "package" CACHE INTERNAL "")
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set(gRPC_BUILD_GRPC_CSHARP_PLUGIN OFF)
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set(gRPC_BUILD_GRPC_NODE_PLUGIN OFF)
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set(gRPC_BUILD_GRPC_OBJECTIVE_C_PLUGIN OFF)
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set(gRPC_BUILD_GRPC_PHP_PLUGIN OFF)
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set(gRPC_BUILD_GRPC_RUBY_PLUGIN OFF)
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set(RE2_BUILD_TESTING OFF)
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set(ZLIB_BUILD_EXAMPLES OFF)
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findorfetch(

‎mjpc/spline/spline.h‎

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#ifndef MJPC_MJPC_SPLINE_SPLINE_H_
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#define MJPC_MJPC_SPLINE_SPLINE_H_
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#include <absl/log/check.h>
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#include <absl/types/span.h>
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#include <array>
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#include <cstddef>
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#include <deque>
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#include <iterator>
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#include <type_traits>
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#include <vector>
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#include <absl/log/check.h>
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#include <absl/types/span.h>
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namespace mjpc::spline {
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enum SplineInterpolation : int {
@@ -33,6 +33,7 @@ enum SplineInterpolation : int {
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kCubicSpline,
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};
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// Represents a spline where values are interpolated based on time.
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// Allows updating the spline by adding new future points, or removing old
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// nodes.
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template <typename T>
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class NodeT {
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public:
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NodeT() : time_(0){};
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NodeT() : time_(0) {};
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NodeT(double time, T* values, int dim)
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: time_(time), values_(values, dim) {}
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@@ -223,6 +224,7 @@ class TimeSpline {
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// Returns the number of nodes in the spline.
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std::size_t Size() const;
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// Returns the node at the given index, sorted by time. Any calls that mutate
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// the spline will invalidate the Node object.
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Node NodeAt(int index);

‎mjpc/tasks/allegro/allegro.cc‎

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// Copyright 2022 DeepMind Technologies Limited
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// Copyright 2024 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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#include "mjpc/tasks/allegro/allegro.h"
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#include <mujoco/mujoco.h>
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#include <cmath>
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#include <string>
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#include <vector>
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#include "mjpc/task.h"
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#include <mujoco/mujoco.h>
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#include "mjpc/utilities.h"
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namespace mjpc {

‎mjpc/tasks/allegro/cube.xml‎

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This file was deleted.

‎mjpc/tasks/allegro/task.xml‎

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<framepos name="cube_goal_position" objtype="site" objname="grasp_site"/>
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<framequat name="cube_goal_orientation" objtype="body" objname="goal"/>
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</sensor>
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<include file="cube.xml"/>
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<include file="../common_assets/reorientation_cube.xml"/>
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<!-- modified from: https://github.com/google-deepmind/mujoco_menagerie/tree/main/wonik_allegro -->
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<include file="right_hand_modified.xml"/>
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‎mjpc/tasks/common_assets/reorientation_cube.xml‎

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<mujoco>
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<asset>
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<texture name="cube" type="cube"
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fileup="../common_assets/reorientation_cube_textures/fileup.png"
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fileback="../common_assets/reorientation_cube_textures/fileback.png"
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filedown="../common_assets/reorientation_cube_textures/filedown.png"
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filefront="../common_assets/reorientation_cube_textures/filefront.png"
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fileleft="../common_assets/reorientation_cube_textures/fileleft.png"
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fileright="../common_assets/reorientation_cube_textures/fileright.png"/>
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<material name="cube" texture="cube"/>
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<texture name="graycube" type="cube"
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fileup="../common_assets/reorientation_cube_textures/grayup.png"
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fileback="../common_assets/reorientation_cube_textures/grayback.png"
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filedown="../common_assets/reorientation_cube_textures/graydown.png"
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filefront="../common_assets/reorientation_cube_textures/grayfront.png"
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fileleft="../common_assets/reorientation_cube_textures/grayleft.png"
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fileright="../common_assets/reorientation_cube_textures/grayright.png"/>
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<material name="graycube" texture="graycube"/>
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</asset>
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<worldbody>
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<light pos="0 0 1"/>
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<body name="cube" pos="0.2 0.0 0.075" quat="1 0 0 0">
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<freejoint/>
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<geom name="cube" type="box" size=".03 .03 .03" mass=".122" material="cube"/>
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</body>
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</worldbody>
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<sensor>
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<framepos name="trace0" objtype="body" objname="cube"/>
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<framepos name="cube_position" objtype="body" objname="cube"/>
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<framequat name="cube_orientation" objtype="body" objname="cube"/>
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<framelinvel name="cube_linear_velocity" objtype="body" objname="cube"/>
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<frameangvel name="cube_angular_velocity" objtype="body" objname="cube"/>
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</sensor>
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</mujoco>

‎mjpc/tasks/assets/cube/fileback.png‎ renamed to ‎mjpc/tasks/common_assets/reorientation_cube_textures/fileback.png‎

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‎mjpc/tasks/assets/cube/filedown.png‎ renamed to ‎mjpc/tasks/common_assets/reorientation_cube_textures/filedown.png‎

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‎mjpc/tasks/assets/cube/filefront.png‎ renamed to ‎mjpc/tasks/common_assets/reorientation_cube_textures/filefront.png‎

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‎mjpc/tasks/assets/cube/fileleft.png‎ renamed to ‎mjpc/tasks/common_assets/reorientation_cube_textures/fileleft.png‎

File renamed without changes.

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