humanoid task

Author: thowell

mjpc/tasks/CMakeLists.txt

@@ -32,6 +32,13 @@ add_custom_target(
   COMMAND patch -o ${CMAKE_CURRENT_BINARY_DIR}/cartpole/cartpole_modified.xml
           ${CMAKE_CURRENT_BINARY_DIR}/cartpole/cartpole.xml
           <${CMAKE_CURRENT_SOURCE_DIR}/cartpole/cartpole.xml.patch
+  # humanoid
+  COMMAND ${CMAKE_COMMAND} -E copy
+          ${dm_control_SOURCE_DIR}/dm_control/suite/humanoid.xml
+          ${CMAKE_CURRENT_BINARY_DIR}/humanoid/humanoid.xml
+  COMMAND patch -o ${CMAKE_CURRENT_BINARY_DIR}/humanoid/humanoid_modified.xml
+          ${CMAKE_CURRENT_BINARY_DIR}/humanoid/humanoid.xml
+          <${CMAKE_CURRENT_SOURCE_DIR}/humanoid/humanoid.xml.patch
   COMMAND ${CMAKE_COMMAND} -E copy
           ${menagerie_SOURCE_DIR}/shadow_hand/right_hand.xml
           ${CMAKE_CURRENT_BINARY_DIR}/hand/right_hand.xml