quadrotor task

thowell · thowell · commit d6b0f6d4fe0b · 2024-01-20T13:52:01.000-07:00
diff --git a/mjpc/tasks/CMakeLists.txt b/mjpc/tasks/CMakeLists.txt
@@ -35,9 +35,15 @@ add_custom_target(
   COMMAND ${CMAKE_COMMAND} -E copy_directory
           ${menagerie_SOURCE_DIR}/robotiq_2f85
           ${CMAKE_CURRENT_BINARY_DIR}/manipulation
+  COMMAND ${CMAKE_COMMAND} -E copy
+          ${menagerie_SOURCE_DIR}/skydio_x2/x2.xml
+          ${CMAKE_CURRENT_BINARY_DIR}/quadrotor/quadrotor.xml
   COMMAND ${CMAKE_COMMAND} -E copy_directory
           ${menagerie_SOURCE_DIR}/skydio_x2/assets
           ${CMAKE_CURRENT_BINARY_DIR}/quadrotor/assets
+  COMMAND patch -o ${CMAKE_CURRENT_BINARY_DIR}/quadrotor/quadrotor_modified.xml
+          ${CMAKE_CURRENT_BINARY_DIR}/quadrotor/quadrotor.xml
+          <${CMAKE_CURRENT_SOURCE_DIR}/quadrotor/quadrotor.xml.patch
   COMMAND ${CMAKE_COMMAND} -E copy
           ${menagerie_SOURCE_DIR}/robotis_op3/op3.xml
           ${CMAKE_CURRENT_BINARY_DIR}/op3/op3.xml
diff --git a/mjpc/tasks/quadrotor/quadrotor.xml b/mjpc/tasks/quadrotor/quadrotor.xml
diff --git a/mjpc/tasks/quadrotor/quadrotor.xml.patch b/mjpc/tasks/quadrotor/quadrotor.xml.patch
@@ -0,0 +1,32 @@
+--- quadrotor.xml	2024-01-20 13:48:24
++++ modified.xml	2024-01-20 13:48:07
+@@ -25,13 +25,12 @@
+     <texture type="2d" file="X2_lowpoly_texture_SpinningProps_1024.png"/>
+     <material name="phong3SG" texture="X2_lowpoly_texture_SpinningProps_1024"/>
+     <material name="invisible" rgba="0 0 0 0"/>
+-
+     <mesh class="x2" file="X2_lowpoly.obj"/>
+   </asset>
+ 
+   <worldbody>
+     <light name="spotlight" mode="targetbodycom" target="x2" pos="0 -1 2"/>
+-    <body name="x2" pos="0 0 0.1" childclass="x2">
++    <body name="x2" pos="0 0 0.1" quat="0 0 0 1" childclass="x2">
+       <freejoint/>
+       <camera name="track" pos="-1 0 .5" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
+       <site name="imu" pos="0 0 .02"/>
+@@ -58,14 +57,4 @@
+     <motor class="x2" name="thrust3" site="thrust3" gear="0 0 1 0 0  .0201"/>
+     <motor class="x2" name="thrust4" site="thrust4" gear="0 0 1 0 0 -.0201"/>
+   </actuator>
+-
+-  <sensor>
+-    <gyro name="body_gyro" site="imu"/>
+-    <accelerometer name="body_linacc" site="imu"/>
+-    <framequat name="body_quat" objtype="site" objname="imu"/>
+-  </sensor>
+-
+-  <keyframe>
+-    <key name="hover" qpos="0 0 .3 1 0 0 0" ctrl="3.2495625 3.2495625 3.2495625 3.2495625"/>
+-  </keyframe>
+ </mujoco>
diff --git a/mjpc/tasks/quadrotor/task.xml b/mjpc/tasks/quadrotor/task.xml
@@ -1,6 +1,7 @@
 <mujoco model="Quadrotor Racing">
   <include file="../common.xml"/>
-  <include file="quadrotor.xml"/>
+  <!-- modified from: https://github.com/google-deepmind/mujoco_menagerie/tree/main/skydio_x2 -->
+  <include file="quadrotor_modified.xml"/>
   <include file="gates.xml"/>
 
   <size memory="100K"/>
