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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,37 @@ | ||
| // Copyright 2022 DeepMind Technologies Limited | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #include "mjpc/tasks/humanoid/interact/contact_keyframe.h" | ||
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| namespace mjpc::humanoid { | ||
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| void ContactPair::Reset() { | ||
| body1 = kNotSelectedInteract; | ||
| body2 = kNotSelectedInteract; | ||
| geom1 = kNotSelectedInteract; | ||
| geom2 = kNotSelectedInteract; | ||
| for (int i = 0; i < 3; i++) { | ||
| local_pos1[i] = 0.; | ||
| local_pos2[i] = 0.; | ||
| } | ||
| } | ||
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| void ContactKeyframe::Reset() { | ||
| name.clear(); | ||
| for (auto& contact_pair : contact_pairs) contact_pair.Reset(); | ||
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| facing_target.clear(); | ||
| weight.clear(); | ||
| } | ||
| } // namespace mjpc::humanoid |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,64 @@ | ||
| // Copyright 2022 DeepMind Technologies Limited | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
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| #ifndef MJPC_TASKS_HUMANOID_INTERACT_CONTACT_KEYFRAME_H_ | ||
| #define MJPC_TASKS_HUMANOID_INTERACT_CONTACT_KEYFRAME_H_ | ||
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| #include <map> | ||
| #include <string> | ||
| #include <vector> | ||
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| #include <mujoco/mujoco.h> | ||
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| namespace mjpc::humanoid { | ||
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| // ---------- Constants ----------------- // | ||
| constexpr int kNotSelectedInteract = -1; | ||
| constexpr int kNumberOfContactPairsInteract = 5; | ||
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| class ContactPair { | ||
| public: | ||
| int body1, body2, geom1, geom2; | ||
| mjtNum local_pos1[3], local_pos2[3]; | ||
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| ContactPair() | ||
| : body1(kNotSelectedInteract), | ||
| body2(kNotSelectedInteract), | ||
| geom1(kNotSelectedInteract), | ||
| geom2(kNotSelectedInteract), | ||
| local_pos1{0.}, | ||
| local_pos2{0.} {} | ||
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| void Reset(); | ||
| }; | ||
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| class ContactKeyframe { | ||
| public: | ||
| std::string name; | ||
| ContactPair contact_pairs[kNumberOfContactPairsInteract]; | ||
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| // the direction on the xy-plane for the torso to point towards | ||
| std::vector<mjtNum> facing_target; | ||
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| // weight of all residual terms (name -> value map) | ||
| std::map<std::string, mjtNum> weight; | ||
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| ContactKeyframe() : name(""), contact_pairs{}, facing_target(), weight() {} | ||
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| void Reset(); | ||
| }; | ||
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| } // namespace mjpc::humanoid | ||
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| #endif // MJPC_TASKS_HUMANOID_INTERACT_CONTACT_KEYFRAME_H_ |
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