Add Actuators when Parsing URDF #20
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kli58
reviewed
Nov 10, 2023
…e barrett hand xml, since they weren't supported in the original mjx release
… bugged out on them
…m into add-actuators-urdf
kli58
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Nov 13, 2023
alberthli
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Nov 13, 2023
vincekurtz
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Nov 13, 2023
* initial bash script and README update * update CI workflow and consolidate installation into one command (+system-wide dependency instructions for building from source) * add apt dependencies to CI workflow + minor README update * edit workflow to add conda environment * try changing a path in the workflow * I have no idea how paths work in github workflows... * change order of steps in workflow * update CI with disk space freeing action + cache conda env * add shell specification to actions so conda is activated correctly in all steps + temporarily test script * check workflow caching + add more processors to cmake commands * remove less space from test system to reduce workflow runtime * update workflow config to only run when PRs are marked 'ready for review' + update README with more guidelines * updated to allow newton solver to be default if mujoco version is greater than 3.0.0 * bugfix: install mjx from source in addition to mujoco * minor update to README * split up installation script into two: one specifically for installing mujoco from source * first stab at saving out a built wheel as an artifact * add workflow_dispatch to allow manually triggering the workflow * add input for specifying branch * change to ready_for_review * fix run command * minor updates to workflow and mj source script to hopefully resolve install errors in workflow * fixed minor bug with tar/wheel path * fixed bug where wheel wasn't saved to right directory * bug in workflow preventing it from running * hopefully fixed conda env caching and artifact relative path error * test whether artifact is retrieved correctly for code checks * try to trigger test workflow * try to fix weird bug where workflow doesn't run * some changes to workflows to try to find the cached artifact correctly * bugfix: forgot to cache mjx wheel as well * fixed bug where same identifier was used for two steps * fixed mjx wheel filepath * updated workflows to run at intended times; pip install new mjx; fixed path unlinking bug in test * bugfix: missed a problematic unlink call * expose mujoco git hash option to installation scripts * added check_artifact and search_artifact flags to artifact retrieval action - should only download most recent artifact * modify the mujoco nightly build workflow to run when ready to review as well * trigger code check workflow after nightly build workflow completes * added missing id to conda cache action that was preventing conditional environment updates * run the composition of the nightly build + code checks when ready for review * added workflow_call to make workflows reusable * minor: README edit * 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 * conditional caching for nightly builds + download artifact from run ids * minor: syntax error * bugfixes for downloading + checking hash * weird bugs regarding not downloading correctly or regexp not working * fixed stray quotation mark that might have been causing a bug * big debugging run * hopefully better find functionality for getting cached wheels * try again with searching for file * fix find command again * wrong variable name fixed * try again with extracting the cached hash * fixed pip install path * add back reusable workflow * debug: scheduled nightly build * conditional mujoco upgrade - only if no wheels were downloaded * try sharing artifact between two jobs in the same workflow * removed two-stage nightly builds, allow mujoco to build when ready for review * clean up workflows + add some comments * very minor README update * updated README for one-line install; allowed option to disable apt dependency auto-install; exposed mujoco path * minor bugfix: check whether mujoco-dir ends in /mujoco only if not '' * bug in skip_build flag for case when a wheel is found but the hash doesn't match * missed an unlink * uncommented support for mimic joint parsing from #20
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When mujoco converts URDFs to XMLs, it drops the actuators, which causes the model to have no motors. This PR manually parses the URDF and adds them back into the XML post-hoc.
[NOTE] This PR also adds support for mimic joint parsing to handle underactuated systems. However, these commits are currently failing checks because #21 is not merged yet. So, the changes are commented out until then.