Merge pull request #298 from thowell/mjx

Aloha MJX task cmake
google-deepmind · Mar 3, 2024 · c1b15e5 · c1b15e5
2 parents 55bb4bd + a457b55
commit c1b15e5
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Showing 3 changed files with 26 additions and 2 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -61,7 +61,7 @@ set(MUJOCO_MPC_MUJOCO_GIT_TAG
 )
 
 set(MUJOCO_MPC_MENAGERIE_GIT_TAG
-    8ef01e87fffaa8ec634a4826c5b2092733b2f3c8
+    8a5f659ac3607dc5adb988e0187f683fe0f4edf4
     CACHE STRING "Git revision for MuJoCo Menagerie."
 )
 

diff --git a/mjpc/tasks/CMakeLists.txt b/mjpc/tasks/CMakeLists.txt
@@ -162,6 +162,30 @@ add_custom_target(
           ${CMAKE_CURRENT_BINARY_DIR}/bimanual/aloha.xml
           <${CMAKE_CURRENT_SOURCE_DIR}/bimanual/aloha.patch
 
+  # MJX ALOHA
+  COMMAND ${CMAKE_COMMAND} -E copy
+          ${menagerie_SOURCE_DIR}/aloha/mjx_aloha.patch
+          ${CMAKE_CURRENT_BINARY_DIR}/bimanual/mjx_aloha.patch
+  COMMAND patch -o ${CMAKE_CURRENT_BINARY_DIR}/bimanual/mjx_aloha.xml
+          ${CMAKE_CURRENT_BINARY_DIR}/bimanual/aloha.xml
+          <${CMAKE_CURRENT_BINARY_DIR}/bimanual/mjx_aloha.patch
+  COMMAND ${CMAKE_COMMAND} -E copy
+          ${menagerie_SOURCE_DIR}/aloha/scene.xml
+          ${CMAKE_CURRENT_BINARY_DIR}/bimanual/scene.xml
+  COMMAND ${CMAKE_COMMAND} -E copy
+          ${menagerie_SOURCE_DIR}/aloha/mjx_scene.patch
+          ${CMAKE_CURRENT_BINARY_DIR}/bimanual/mjx_scene.patch
+  COMMAND patch -o ${CMAKE_CURRENT_BINARY_DIR}/bimanual/mjx_scene.xml
+          ${CMAKE_CURRENT_BINARY_DIR}/bimanual/scene.xml
+          <${CMAKE_CURRENT_BINARY_DIR}/bimanual/mjx_scene.patch
+
+  COMMAND ${CMAKE_COMMAND} -E copy
+          ${menagerie_SOURCE_DIR}/aloha/mjx_integrated_cartesian_actuators.patch
+          ${CMAKE_CURRENT_BINARY_DIR}/bimanual/mjx_integrated_cartesian_actuators.patch
+  COMMAND patch -o ${CMAKE_CURRENT_BINARY_DIR}/bimanual/mjx_integrated_cartesian_actuators.xml
+          ${CMAKE_CURRENT_BINARY_DIR}/bimanual/integrated_cartesian_actuators.xml
+          <${CMAKE_CURRENT_BINARY_DIR}/bimanual/mjx_integrated_cartesian_actuators.patch
+
   COMMAND ${CMAKE_COMMAND} -E copy
           ${menagerie_SOURCE_DIR}/robotis_op3/op3.xml
           ${CMAKE_CURRENT_BINARY_DIR}/op3/op3.xml

diff --git a/python/mujoco_mpc/mjx/tasks/bimanual/handover.py b/python/mujoco_mpc/mjx/tasks/bimanual/handover.py
@@ -52,7 +52,7 @@ def get_models_and_cost_fn() -> (
 ):
   """Returns a tuple of the model and the cost function."""
   path = epath.Path(
-      'build/mujoco_menagerie/aloha/'
+      'build/mjpc/tasks/bimanual/'
   )
   model_file_name = 'mjx_scene.xml'
   xml = (path / model_file_name).read_text()