Rename task: hand->shadow_reorient.

PiperOrigin-RevId: 607647773
Change-Id: Iee71181fdc79c91e55aea7fd74b5724b84a45963

Author: erez-tom

mjpc/tasks/CMakeLists.txt

@@ -64,7 +64,7 @@ add_custom_target(
   ## Menagerie models
   COMMAND ${CMAKE_COMMAND} -E copy
           ${menagerie_SOURCE_DIR}/shadow_hand/right_hand.xml
-          ${CMAKE_CURRENT_BINARY_DIR}/hand/right_hand.xml
+          ${CMAKE_CURRENT_BINARY_DIR}/shadow_reorient/right_hand.xml
   COMMAND ${CMAKE_COMMAND} -E copy
           ${menagerie_SOURCE_DIR}/wonik_allegro/right_hand.xml
           ${CMAKE_CURRENT_BINARY_DIR}/allegro/right_hand.xml
@@ -76,7 +76,7 @@ add_custom_target(
           <${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}/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

mjpc/tasks/hand/hand.cc renamed to mjpc/tasks/shadow_reorient/hand.cc

@@ -12,21 +12,18 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "mjpc/tasks/hand/hand.h"
+#include "mjpc/tasks/shadow_reorient/hand.h"
 
 #include <string>
 
-#include <absl/log/check.h>
-#include <absl/log/log.h>
 #include <mujoco/mujoco.h>
-#include "mjpc/task.h"
 #include "mjpc/utilities.h"
 
 namespace mjpc {
-std::string Hand::XmlPath() const {
-  return GetModelPath("hand/task.xml");
+std::string ShadowReorient::XmlPath() const {
+  return GetModelPath("shadow_reorient/task.xml");
 }
-std::string Hand::Name() const { return "Hand"; }
+std::string ShadowReorient::Name() const { return "Shadow"; }
 
 // ---------- Residuals for in-hand manipulation task ---------
 //   Number of residuals: 6
@@ -37,8 +34,9 @@ std::string Hand::Name() const { return "Hand"; }
 //     Residual (4): hand configuration - nominal hand configuration
 //     Residual (5): hand joint velocity
 // ------------------------------------------------------------
-void Hand::ResidualFn::Residual(const mjModel* model, const mjData* data,
-                    double* residual) const {
+void ShadowReorient::ResidualFn::Residual(const mjModel* model,
+                                          const mjData* data,
+                                          double* residual) const {
   int counter = 0;
   // ---------- Residual (0) ----------
   // goal position
@@ -89,7 +87,7 @@ void Hand::ResidualFn::Residual(const mjModel* model, const mjData* data,
 //   If cube is within tolerance or floor ->
 //   reset cube into hand.
 // -----------------------------------------------
-void Hand::TransitionLocked(mjModel* model, mjData* data) {
+void ShadowReorient::TransitionLocked(mjModel* model, mjData* data) {
   // find cube and floor
   int cube = mj_name2id(model, mjOBJ_GEOM, "cube");
   int floor = mj_name2id(model, mjOBJ_GEOM, "floor");

mjpc/tasks/hand/hand.h renamed to mjpc/tasks/shadow_reorient/hand.h

@@ -12,21 +12,22 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MJPC_TASKS_HAND_HAND_H_
-#define MJPC_TASKS_HAND_HAND_H_
+#ifndef MJPC_TASKS_SHADOW_REORIENT_HAND_H_
+#define MJPC_TASKS_SHADOW_REORIENT_HAND_H_
 
+#include <memory>
 #include <string>
 #include <mujoco/mujoco.h>
 #include "mjpc/task.h"
 
 namespace mjpc {
-class Hand : public Task {
+class ShadowReorient : public Task {
  public:
   std::string Name() const override;
   std::string XmlPath() const override;
   class ResidualFn : public BaseResidualFn {
    public:
-    explicit ResidualFn(const Hand* task) : BaseResidualFn(task) {}
+    explicit ResidualFn(const ShadowReorient* task) : BaseResidualFn(task) {}
 
   // ---------- Residuals for in-hand manipulation task ---------
   //   Number of residuals: 5
@@ -39,7 +40,7 @@ class Hand : public Task {
   void Residual(const mjModel* model, const mjData* data,
                 double* residual) const override;
   };
-  Hand() : residual_(this) {}
+  ShadowReorient() : residual_(this) {}
 
 // ----- Transition for in-hand manipulation task -----
 //   If cube is within tolerance or floor ->
@@ -59,4 +60,4 @@ class Hand : public Task {
 };
 }  // namespace mjpc
 
-#endif  // MJPC_TASKS_HAND_HAND_H_
+#endif  // MJPC_TASKS_SHADOW_REORIENT_HAND_H_

mjpc/tasks/hand/task.xml renamed to mjpc/tasks/shadow_reorient/task.xml

@@ -24,17 +24,17 @@
 #include "mjpc/tasks/cartpole/cartpole.h"
 #include "mjpc/tasks/cube/solve.h"
 #include "mjpc/tasks/fingers/fingers.h"
-#include "mjpc/tasks/hand/hand.h"
 #include "mjpc/tasks/humanoid/stand/stand.h"
 #include "mjpc/tasks/humanoid/tracking/tracking.h"
 #include "mjpc/tasks/humanoid/walk/walk.h"
 #include "mjpc/tasks/manipulation/manipulation.h"
-#include "mjpc/tasks/panda/panda.h"
 // DEEPMIND INTERNAL IMPORT
 #include "mjpc/tasks/op3/stand.h"
+#include "mjpc/tasks/panda/panda.h"
 #include "mjpc/tasks/particle/particle.h"
 #include "mjpc/tasks/quadrotor/quadrotor.h"
 #include "mjpc/tasks/quadruped/quadruped.h"
+#include "mjpc/tasks/shadow_reorient/hand.h"
 #include "mjpc/tasks/swimmer/swimmer.h"
 #include "mjpc/tasks/walker/walker.h"
 
@@ -48,7 +48,6 @@ std::vector<std::shared_ptr<Task>> GetTasks() {
       std::make_shared<CubeSolve>(),
       std::make_shared<Cartpole>(),
       std::make_shared<Fingers>(),
-      std::make_shared<Hand>(),
       std::make_shared<humanoid::Stand>(),
       std::make_shared<humanoid::Tracking>(),
       std::make_shared<humanoid::Walk>(),
@@ -58,6 +57,7 @@ std::vector<std::shared_ptr<Task>> GetTasks() {
       std::make_shared<Panda>(),
       std::make_shared<Particle>(),
       std::make_shared<ParticleFixed>(),
+      std::make_shared<ShadowReorient>(),
       std::make_shared<Quadrotor>(),
       std::make_shared<QuadrupedFlat>(),
       std::make_shared<QuadrupedHill>(),

mjpc/tasks/tasks.cc

@@ -25,7 +25,7 @@
 
 model_path = (
         pathlib.Path(os.path.abspath("")).parent.parent.parent
-        / "mujoco_mpc/mjpc/tasks/hand/task.xml"
+        / "mujoco_mpc/mjpc/tasks/shadow/task.xml"
     )
 # create simulation model + data
 model = mujoco.MjModel.from_xml_path(str(model_path))