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google-deepmind · Jun 17, 2024 · d7481b9 · d7481b9
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commit d7481b9
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Showing 3 changed files with 7 additions and 6 deletions.
diff --git a/mjpc/tasks/humanoid/interact/contact_keyframe.cc b/mjpc/tasks/humanoid/interact/contact_keyframe.cc
@@ -15,6 +15,7 @@
 #include "mjpc/tasks/humanoid/interact/contact_keyframe.h"
 
 namespace mjpc::humanoid {
+
 void ContactPair::Reset() {
   body1 = kNotSelectedInteract;
   body2 = kNotSelectedInteract;

diff --git a/mjpc/tasks/humanoid/interact/contact_keyframe.h b/mjpc/tasks/humanoid/interact/contact_keyframe.h
@@ -15,12 +15,12 @@
 #ifndef MJPC_TASKS_HUMANOID_INTERACT_CONTACT_KEYFRAME_H_
 #define MJPC_TASKS_HUMANOID_INTERACT_CONTACT_KEYFRAME_H_
 
+#include <mujoco/mujoco.h>
+
 #include <map>
 #include <string>
 #include <vector>
 
-#include "mujoco/mujoco.h"
-
 namespace mjpc::humanoid {
 
 // ---------- Constants ----------------- //

diff --git a/mjpc/tasks/humanoid/interact/interact.h b/mjpc/tasks/humanoid/interact/interact.h
@@ -40,10 +40,10 @@ enum TaskMode : int {
 
 // ----------- Default weights for the residual terms ----------------- //
 const std::vector<std::vector<double>> default_weights = {
-    {10., 10., 5., 5., 0., 20., 30., 0., 0., 0., 0.01, 0.1, 80.},   // sit
-    {10., 0., 1., 1., 80., 0., 0., 100., 0., 0., 0.01, 0.025, 0.},  // stand
-    {0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.01, 0.8, 80.},       // relax
-    {0., 0., 0., 0., 0., 0., 0., 0., 0., 50., 20., 0.025, 80.},  // stay still
+    {10, 10, 5, 5, 0, 20, 30, 0, 0, 0, 0.01, .1, 80.},    // to sit
+    {10, 0, 1, 1, 80, 0, 0, 100, 0, 0, 0.01, 0.025, 0.},  // to stand
+    {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, .8, 80.},        // to relax
+    {0, 0, 0, 0, 0, 0, 0, 0, 0, 50, 20, .025, 80.},       // to stay still
 };
 
 // ----------- Default colors for the contact pair points ------------ //