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google-deepmind / mujoco_mpc

Real-time behaviour synthesis with MuJoCo, using Predictive Control
https://github.com/deepmind/mujoco_mpc
Apache License 2.0
1.06k stars 157 forks source link

Interact task: Contact keyframes #316

Closed nkhosh closed 5 months ago

nkhosh commented 6 months ago

This PR introduces the task "Interact". Using key contact points with the environment, the user can guide the interaction with objects in the scene by adding the distance of contact point pairs as an objective term.

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thowell commented 6 months ago

Thanks for contributing this awesome task!

I will take a look at the code this week.

nkhosh commented 5 months ago

Thank you for your comments @thowell, I have applied the requested changes in my latest commit.

thowell commented 5 months ago

Thanks for making these changes! I sent you a PR that formats the C++ code. It can be merged into this PR. Otherwise, LGTM.

thowell commented 5 months ago

@nkhosh Thanks for making these changes! LGTM.