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Kinematics and Dynamics #16

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Kinematics and Dynamics #16

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@alberthli alberthli commented Nov 9, 2023 •
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Adds tests/benchmarks for kinematics and dynamics functions in mjx.

TODO:

  • figure out how to compare constrained forward dynamics to pinocchio correctly for forward dynamics test
  • write tests to make sure mimic joints are parsed correctly

alberthli and others added 20 commits November 8, 2023 21:21
@alberthli
[dirty] redo of kinematics/dynamics testing
01bec92
@alberthli
wrote forward kinematics test by comparing to pinocchio
5001a6b
@alberthli
[dirty] pinocchio utils + refined FK test
0d1b3b7
@alberthli
added functionality that parses actuators from URDF and ensures that …
7bcace7 
…they are present in the XML
@alberthli
added test for actuator loading
c4582e4
@alberthli
added some guidance in the README about model loading
9b69372
@alberthli
update README with info about transmission tag
9037cd9
@alberthli
initial bash script and README update
909b6a2
@alberthli
update CI workflow and consolidate installation into one command (+sy…
7635df2 
…stem-wide dependency instructions for building from source)
@alberthli
add apt dependencies to CI workflow + minor README update
18d2ccf
@alberthli
edit workflow to add conda environment
a91b10d
@alberthli
try changing a path in the workflow
59d24e8
@alberthli
I have no idea how paths work in github workflows...
b85fb9c
@alberthli
change order of steps in workflow
4d84eeb
@alberthli
update CI with disk space freeing action + cache conda env
c85cfa3
@alberthli
add shell specification to actions so conda is activated correctly in…
caa4cc3 
… all steps + temporarily test script
@alberthli
check workflow caching + add more processors to cmake commands
3130899
@alberthli
remove less space from test system to reduce workflow runtime
397f42c
@alberthli
Merge branch 'main' of github.com:Caltech-AMBER/ambersim into source-…
d1be7b2 
…install-option
@alberthli
Merge branch 'source-install-option' of github.com:Caltech-AMBER/ambe…
58f7043 
…rsim into source-install-option
@alberthli alberthli marked this pull request as draft November 10, 2023 18:26
alberthli and others added 30 commits November 11, 2023 13:02
@alberthli
hopefully better find functionality for getting cached wheels
21bb4a9
@alberthli
try again with searching for file
c5a3a9d
@alberthli
fix find command again
e399755
@alberthli
wrong variable name fixed
6b06288
@alberthli
try again with extracting the cached hash
959fcc8
@alberthli
fixed pip install path
0ce392b
@alberthli
add back reusable workflow
2e61012
@alberthli
debug: scheduled nightly build
f6f968e
@alberthli
conditional mujoco upgrade - only if no wheels were downloaded
d4483c0
@alberthli
try sharing artifact between two jobs in the same workflow
3ae83d2
@alberthli
removed two-stage nightly builds, allow mujoco to build when ready fo…
1cf1c21 
…r review
@alberthli
clean up workflows + add some comments
3e925d6
@alberthli
very minor README update
7896095
@alberthli
added additional test to ensure that the actuators in the XML and URD…
64d2225 
…F are the same
@alberthli
add parsing for mimic joints
56a1e7d
@alberthli
for now, temporarily comment out the joint equality constraints in th…
c6c5930 
…e barrett hand xml, since they weren't supported in the original mjx release
@alberthli
update pendulum to have capsules, add back in equality constraints fo…
37fd3e2 
…r barrett hand
@alberthli
commented out equality-constrained joints for now, since mjx is still…
0a91327 
… bugged out on them
@alberthli
changed comments to be about merging #21 instead of mistaken mjx bug
430e78a
@alberthli
remove stray commented code
be65214
@alberthli
Merge branch 'main' of github.com:Caltech-AMBER/ambersim into add-act…
6142d22 
…uators-urdf
@alberthli
Merge branch 'add-actuators-urdf' of github.com:Caltech-AMBER/ambersi…
c197600 
…m into add-actuators-urdf
@alberthli
Merge branch 'main' of github.com:Caltech-AMBER/ambersim into source-…
339b739 
…install-option
@alberthli
Merge branch 'main' of github.com:Caltech-AMBER/ambersim into kin-dyn-2
54a34ff
@alberthli
Merge branch 'add-actuators-urdf' of github.com:Caltech-AMBER/ambersi…
60df122 
…m into kin-dyn-2
@alberthli
pulled from sibling branches to get changes necessary for continued d…
3b9f18f 
…evelopment
@alberthli
fixed adding the floating base joint + test random translations and r…
ffc5a95 
…otations of it
@alberthli
[dirty] set up for dynamics test, need to figure out underactuated mi…
5a38234 
…mic joints in pinocchio
@alberthli
[dirty] merge conflict fix
c4dc82f
@alberthli
merge conflict from upstream changes
e9ca03a
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@alberthli