Fix cmake for bimanual task.

PiperOrigin-RevId: 604589682
Change-Id: Ibc4149398498298ff8705b1562ca2fd12f9ff95a

Author: erez-tom

mjpc/CMakeLists.txt

@@ -38,6 +38,8 @@ add_library(
   tasks/tasks.h
   tasks/acrobot/acrobot.cc
   tasks/acrobot/acrobot.h
+  tasks/bimanual/bimanual.cc
+  tasks/bimanual/bimanual.h
   tasks/cartpole/cartpole.cc
   tasks/cartpole/cartpole.h
   tasks/cube/solve.cc

mjpc/tasks/CMakeLists.txt

@@ -71,7 +71,7 @@ add_custom_target(
   COMMAND ${CMAKE_COMMAND} -E copy
           ${menagerie_SOURCE_DIR}/aloha/integrated_cartesian_actuators.xml
           ${CMAKE_CURRENT_BINARY_DIR}/bimanual/integrated_cartesian_actuators.xml
-  COMMAND patch -o ${CMAKE_CURRENT_BINARY_DIR}/bimanual/aloha.xml
+  COMMAND patch -o ${CMAKE_CURRENT_BINARY_DIR}/bimanual/aloha_cartesian.xml
           ${CMAKE_CURRENT_BINARY_DIR}/bimanual/aloha.xml
           <${CMAKE_CURRENT_SOURCE_DIR}/bimanual/aloha.patch