Kinematics and Dynamics - #16

Draft

alberthli wants to merge 89 commits into

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Commits on Nov 9, 2023

[dirty] redo of kinematics/dynamics testing
alberthli
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01bec92
wrote forward kinematics test by comparing to pinocchio
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5001a6b
[dirty] pinocchio utils + refined FK test
alberthli
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0d1b3b7

Commits on Nov 10, 2023

added functionality that parses actuators from URDF and ensures that they are present in the XML
alberthli
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7bcace7
added test for actuator loading
alberthli
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c4582e4
added some guidance in the README about model loading
alberthli
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9b69372
update README with info about transmission tag
alberthli
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9037cd9
initial bash script and README update
alberthli
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909b6a2
update CI workflow and consolidate installation into one command (+system-wide dependency instructions for building from source)
alberthli
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7635df2
add apt dependencies to CI workflow + minor README update
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18d2ccf
edit workflow to add conda environment
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a91b10d
try changing a path in the workflow
alberthli
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59d24e8
I have no idea how paths work in github workflows...
alberthli
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b85fb9c
change order of steps in workflow
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4d84eeb
update CI with disk space freeing action + cache conda env
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c85cfa3
add shell specification to actions so conda is activated correctly in all steps + temporarily test script
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caa4cc3
check workflow caching + add more processors to cmake commands
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3130899
remove less space from test system to reduce workflow runtime
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397f42c
Merge branch 'main' of github.com:Caltech-AMBER/ambersim into source-install-option
alberthli
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d1be7b2
Merge branch 'source-install-option' of github.com:Caltech-AMBER/ambersim into source-install-option
alberthli
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58f7043
update workflow config to only run when PRs are marked 'ready for review' + update README with more guidelines
alberthli
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051551b
updated to allow newton solver to be default if mujoco version is greater than 3.0.0
alberthli
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3c77165
bugfix: install mjx from source in addition to mujoco
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422d51e
minor update to README
alberthli
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2bd6875
split up installation script into two: one specifically for installing mujoco from source
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e51ef10
first stab at saving out a built wheel as an artifact
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bed2d1d
add workflow_dispatch to allow manually triggering the workflow
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e7910b7
add input for specifying branch
alberthli
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e44fab9
change to ready_for_review
alberthli
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0d13524
fix run command
alberthli
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4334596
minor updates to workflow and mj source script to hopefully resolve install errors in workflow
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5c11252
fixed minor bug with tar/wheel path
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8cb7311

Commits on Nov 11, 2023

fixed bug where wheel wasn't saved to right directory
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c650518
bug in workflow preventing it from running
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cf190f5
hopefully fixed conda env caching and artifact relative path error
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90b9e42
test whether artifact is retrieved correctly for code checks
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8148ac9
try to trigger test workflow
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436288a
try to fix weird bug where workflow doesn't run
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a14773f
some changes to workflows to try to find the cached artifact correctly
alberthli
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876f9e3
bugfix: forgot to cache mjx wheel as well
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1cbf7b9
fixed bug where same identifier was used for two steps
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532f1fd
fixed mjx wheel filepath
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5b5a4ee
updated workflows to run at intended times; pip install new mjx; fixed path unlinking bug in test
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18fdccb
bugfix: missed a problematic unlink call
alberthli
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e5f01ce
expose mujoco git hash option to installation scripts
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5ee2ffb
added check_artifact and search_artifact flags to artifact retrieval action - should only download most recent artifact
alberthli
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ad39148
modify the mujoco nightly build workflow to run when ready to review as well
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74b2b16
trigger code check workflow after nightly build workflow completes
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e26c70b
added missing id to conda cache action that was preventing conditional environment updates
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3f1b2cb
run the composition of the nightly build + code checks when ready for review
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7dc31f2
added workflow_call to make workflows reusable
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46568e6
minor: README edit
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0996ab0
append git commit hash to end of artifact name to distinguish builds; change schedule time to 4:53AM to avoid high load on the hour
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0db0864
conditional caching for nightly builds + download artifact from run ids
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9371454
minor: syntax error
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fc0bfa1
bugfixes for downloading + checking hash
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7d1e50c
weird bugs regarding not downloading correctly or regexp not working
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7012c2f
fixed stray quotation mark that might have been causing a bug
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d2ae369
big debugging run
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a595bdb
hopefully better find functionality for getting cached wheels
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21bb4a9
try again with searching for file
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c5a3a9d
fix find command again
alberthli
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e399755
wrong variable name fixed
alberthli
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6b06288
try again with extracting the cached hash
alberthli
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959fcc8
fixed pip install path
alberthli
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0ce392b
add back reusable workflow
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2e61012
debug: scheduled nightly build
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f6f968e
conditional mujoco upgrade - only if no wheels were downloaded
alberthli
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d4483c0
try sharing artifact between two jobs in the same workflow
alberthli
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3ae83d2
removed two-stage nightly builds, allow mujoco to build when ready for review
alberthli
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1cf1c21
clean up workflows + add some comments
alberthli
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3e925d6
very minor README update
alberthli
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7896095
added additional test to ensure that the actuators in the XML and URDF are the same
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64d2225

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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5a38234

Commits on Nov 16, 2023

[dirty] merge conflict fix
alberthli
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c4dc82f

Commits on Nov 17, 2023

merge conflict from upstream changes
alberthli
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e9ca03a