Disambiguate two Panda tasks: pick vs. pick+place. Also, fix cmake.

PiperOrigin-RevId: 607650685
Change-Id: Ib95febae22ffb7e7896e0cb99f7dae9ba4c9b858

Author: erez-tom

mjpc/CMakeLists.txt

@@ -44,12 +44,8 @@ add_library(
   tasks/bimanual/bimanual.h
   tasks/cartpole/cartpole.cc
   tasks/cartpole/cartpole.h
-  tasks/cube/solve.cc
-  tasks/cube/solve.h
   tasks/fingers/fingers.cc
   tasks/fingers/fingers.h
-  tasks/hand/hand.cc
-  tasks/hand/hand.h
   tasks/humanoid/stand/stand.cc
   tasks/humanoid/stand/stand.h
   tasks/humanoid/tracking/tracking.cc
@@ -66,6 +62,10 @@ add_library(
   tasks/panda/panda.h
   tasks/particle/particle.cc
   tasks/particle/particle.h
+  tasks/rubik/solve.cc
+  tasks/rubik/solve.h
+  tasks/shadow_reorient/hand.cc
+  tasks/shadow_reorient/hand.h
   tasks/quadrotor/quadrotor.cc
   tasks/quadrotor/quadrotor.h
   tasks/quadruped/quadruped.cc

mjpc/tasks/manipulation/manipulation.cc

@@ -16,19 +16,17 @@
 
 #include <string>
 
-#include <absl/container/flat_hash_map.h>
 #include <absl/random/random.h>
 #include <mujoco/mjmodel.h>
 #include <mujoco/mujoco.h>
-#include "mjpc/task.h"
 #include "mjpc/tasks/manipulation/common.h"
 #include "mjpc/utilities.h"
 
 namespace mjpc {
 std::string manipulation::Bring::XmlPath() const {
   return GetModelPath("manipulation/task_panda_bring.xml");
 }
-std::string manipulation::Bring::Name() const { return "Panda Robotiq Bring"; }
+std::string manipulation::Bring::Name() const { return "PickAndPlace"; }
 
 void manipulation::Bring::ResidualFn::Residual(const mjModel* model,
                                                const mjData* data,

mjpc/tasks/panda/panda.cc

@@ -25,7 +25,7 @@ namespace mjpc {
 std::string Panda::XmlPath() const {
   return GetModelPath("panda/task.xml");
 }
-std::string Panda::Name() const { return "Panda"; }
+std::string Panda::Name() const { return "Pick"; }
 
 // ---------- Residuals for in-panda manipulation task ---------
 //   Number of residuals: 5