Kinematics and Dynamics#16

Draft

alberthli wants to merge 89 commits intomainfrom

Commits on Nov 9, 2023

Commits on Nov 10, 2023

added functionality that parses actuators from URDF and ensures that they are present in the XML
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added test for actuator loading
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added some guidance in the README about model loading
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update README with info about transmission tag
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initial bash script and README update
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update CI workflow and consolidate installation into one command (+system-wide dependency instructions for building from source)
alberthli
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add apt dependencies to CI workflow + minor README update
alberthli
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edit workflow to add conda environment
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try changing a path in the workflow
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I have no idea how paths work in github workflows...
alberthli
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change order of steps in workflow
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update CI with disk space freeing action + cache conda env
alberthli
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add shell specification to actions so conda is activated correctly in all steps + temporarily test script
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check workflow caching + add more processors to cmake commands
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remove less space from test system to reduce workflow runtime
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Merge branch 'main' of github.com:Caltech-AMBER/ambersim into source-install-option
alberthli
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Merge branch 'source-install-option' of github.com:Caltech-AMBER/ambersim into source-install-option
alberthli
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update workflow config to only run when PRs are marked 'ready for review' + update README with more guidelines
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updated to allow newton solver to be default if mujoco version is greater than 3.0.0
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bugfix: install mjx from source in addition to mujoco
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minor update to README
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split up installation script into two: one specifically for installing mujoco from source
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first stab at saving out a built wheel as an artifact
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add workflow_dispatch to allow manually triggering the workflow
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add input for specifying branch
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change to ready_for_review
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fix run command
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minor updates to workflow and mj source script to hopefully resolve install errors in workflow
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fixed minor bug with tar/wheel path
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Commits on Nov 11, 2023

Commits on Nov 12, 2023

Commits on Nov 13, 2023

[dirty] set up for dynamics test, need to figure out underactuated mimic joints in pinocchio
alberthli
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Commits on Nov 16, 2023

[dirty] merge conflict fix
alberthli
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Commits on Nov 17, 2023

merge conflict from upstream changes
alberthli
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