acrobot task

Author: thowell

CMakeLists.txt

@@ -65,6 +65,11 @@ set(MUJOCO_MPC_MENAGERIE_GIT_TAG
     CACHE STRING "Git revision for MuJoCo Menagerie."
 )
 
+set(MUJOCO_MPC_DM_CONTROL_GIT_TAG
+    774f46182140106e22725914aad3c6299ed91edd
+    CACHE STRING "Git revision for dm_control."
+)
+
 findorfetch(
   USE_SYSTEM_PACKAGE
   OFF
@@ -177,6 +182,17 @@ if(NOT menagerie_POPULATED)
   FetchContent_Populate(menagerie)
 endif()
 
+FetchContent_Declare(
+  dm_control
+  GIT_REPOSITORY https://github.com/google-deepmind/dm_control.git
+  GIT_TAG ${MUJOCO_MPC_DM_CONTROL_GIT_TAG}
+)
+
+FetchContent_GetProperties(dm_control)
+if(NOT dm_control_POPULATED)
+  FetchContent_Populate(dm_control)
+endif()
+
 if(NOT TARGET lodepng)
   FetchContent_Declare(
     lodepng

mjpc/tasks/CMakeLists.txt

@@ -16,7 +16,16 @@
 # built binary.
 
 add_custom_target(
-  copy_menagerie_resources ALL
+  copy_model_resources ALL
+  ## dm_control models
+  # acrobot
+  COMMAND ${CMAKE_COMMAND} -E copy
+          ${dm_control_SOURCE_DIR}/dm_control/suite/acrobot.xml
+          ${CMAKE_CURRENT_BINARY_DIR}/acrobot/acrobot.xml
+  COMMAND patch -o ${CMAKE_CURRENT_BINARY_DIR}/acrobot/acrobot_modified.xml
+          ${CMAKE_CURRENT_BINARY_DIR}/acrobot/acrobot.xml
+          <${CMAKE_CURRENT_SOURCE_DIR}/acrobot/acrobot.xml.patch
+  
   COMMAND ${CMAKE_COMMAND} -E copy
           ${menagerie_SOURCE_DIR}/shadow_hand/right_hand.xml
           ${CMAKE_CURRENT_BINARY_DIR}/hand/right_hand.xml
@@ -68,14 +77,14 @@ add_custom_target(
   COMMAND ${Python_EXECUTABLE}
           ${CMAKE_CURRENT_BINARY_DIR}/manipulation/merge_panda_robotiq.py
           ${CMAKE_CURRENT_BINARY_DIR}/manipulation/panda_robotiq.xml
-  COMMENT "Copying menagerie assets into binary directory")
+  COMMENT "Copying Menagerie and dm_control assets into binary directory")
 
 add_custom_target(copy_resources ALL
         COMMAND ${CMAKE_COMMAND} -E copy_directory
         ${CMAKE_CURRENT_SOURCE_DIR}
         ${CMAKE_CURRENT_BINARY_DIR}
         COMMENT "Copying tasks into binary directory")
 
-add_dependencies(copy_menagerie_resources copy_resources)
+add_dependencies(copy_model_resources copy_resources)
 
-add_dependencies(mjpc copy_menagerie_resources)
+add_dependencies(mjpc copy_model_resources)

mjpc/tasks/acrobot/acrobot.xml

@@ -0,0 +1,28 @@
+diff --git a/acrobot_modified.xml b/acrobot_modified.xml
+--- a/acrobot_modified.xml
++++ b/acrobot_modified.xml
+@@ -6,22 +6,18 @@
+     IEEE control systems 15, no. 1 (1995): 49-55.
+ -->
+ <mujoco model="acrobot">
+-  <include file="./common/visual.xml"/>
+-  <include file="./common/skybox.xml"/>
+-  <include file="./common/materials.xml"/>
+-
+   <default>
+     <joint damping=".05"/>
+     <geom type="capsule" mass="1"/>
+   </default>
+ 
+-  <option timestep="0.01" integrator="RK4">
++  <option timestep="0.01">
+     <flag constraint="disable" energy="enable"/>
+   </option>
+ 
+   <worldbody>
+     <light name="light" pos="0 0 6"/>
+-    <geom name="floor" size="3 3 .2" type="plane" material="grid"/>
++    <geom name="floor" size="3 3 .2" type="plane" material="blue_grid"/>
+     <site name="target" type="sphere" pos="0 0 4" size="0.2" material="target" group="3"/>
+     <camera name="fixed" pos="0 -6 2" zaxis="0 -1 0"/>
+     <camera name="lookat" mode="targetbodycom" target="upper_arm" pos="0 -2 3"/>

mjpc/tasks/acrobot/acrobot.xml.patch

@@ -1,6 +1,7 @@
 <mujoco model="Acrobot Swing-Up">
   <include file="../common.xml"/>
-  <include file="acrobot.xml" />
+  <!-- modified from: https://github.com/google-deepmind/dm_control/blob/main/dm_control/suite/acrobot.xml-->
+  <include file="acrobot_modified.xml" />
 
   <size memory="4K"/>