Allegro Cube Rotation Task

google-deepmind / mujoco_mpc

Real-time behaviour synthesis with MuJoCo, using Predictive Control

https://github.com/deepmind/mujoco_mpc

Apache License 2.0

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Allegro Cube Rotation Task #241

Closed alberthli closed 6 months ago

alberthli commented 6 months ago

This PR adds the Allegro cube rotation task to mujoco_mpc.

Some points of discussion:

the cube assets are identical to those of the Shadow Hand task, so we could maybe move them to a higher directory and change the shadow and allegro tasks accordingly

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thowell commented 6 months ago

@alberthli Instead of including the assets directly, modify the CMakeLists to build from Menagerie. Please remove the asset files, including from the commit history. If it is easier, just close this PR and open a new one without these files. Also, you will need to sign the Google CLA.