quadruped task

Author: thowell

mjpc/tasks/CMakeLists.txt

@@ -32,9 +32,15 @@ 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
   COMMAND ${CMAKE_COMMAND} -E copy_directory
           ${menagerie_SOURCE_DIR}/unitree_a1/assets
           ${CMAKE_CURRENT_BINARY_DIR}/quadruped/assets
+  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

mjpc/tasks/panda/panda.xml.patch

@@ -1,5 +1,6 @@
---- panda.xml	2024-01-20 13:55:23
-+++ modified.xml	2024-01-13 20:29:11
+diff --git a/panda_modified.xml b/panda_modified.xml
+--- a/panda_modified.xml
++++ b/panda_modified.xml
 @@ -1,13 +1,12 @@
  <mujoco model="panda">
    <compiler angle="radian" meshdir="assets" autolimits="true"/>

mjpc/tasks/quadrotor/quadrotor.xml.patch

@@ -1,5 +1,6 @@
---- quadrotor.xml	2024-01-20 13:48:24
-+++ modified.xml	2024-01-20 13:48:07
+diff --git a/quadrotor_modified.xml b/quadrotor_modified.xml
+--- a/quadrotor_modified.xml
++++ b/quadrotor_modified.xml
 @@ -25,13 +25,12 @@
      <texture type="2d" file="X2_lowpoly_texture_SpinningProps_1024.png"/>
      <material name="phong3SG" texture="X2_lowpoly_texture_SpinningProps_1024"/>