Allow Installation of mujoco from Source
#21
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…stem-wide dependency instructions for building from source)
… all steps + temporarily test script
…rsim into source-install-option
…iew' + update README with more guidelines
…g mujoco from source
vincekurtz
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Nov 13, 2023
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vincekurtz
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vincekurtz
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Overall this looks great! Just a few little questions and suggestions.
I'm less confident about the github worksflows part - that might take some iterating to see what works/doesn't work. But the script for installing mujoco from source is excellent: way less hassle than trying to figure it out from the sparse mujoco docs!
…rsim into source-install-option
…pendency auto-install; exposed mujoco path
alberthli
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Nov 13, 2023
* added functionality that parses actuators from URDF and ensures that they are present in the XML * added test for actuator loading * added some guidance in the README about model loading * update README with info about transmission tag * added additional test to ensure that the actuators in the XML and URDF are the same * add parsing for mimic joints * for now, temporarily comment out the joint equality constraints in the barrett hand xml, since they weren't supported in the original mjx release * update pendulum to have capsules, add back in equality constraints for barrett hand * commented out equality-constrained joints for now, since mjx is still bugged out on them * changed comments to be about merging #21 instead of mistaken mjx bug * remove stray commented code * upgrade pip in the code checks
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This PR closes #10.
New features:
mujocoandmjxare built from source at 4:53AM daily (weird time to avoid peak runner traffic on Github servers) and cached. Also, when a draft PR is made "ready to review," we see if we need to rebuild againmujocomjx[NOTE] We need to keep an eye out to make sure this is working. Whenever
mujocouploads a new commit, check the next workflow run to make sure that the commit hash used also updated correctly.UPDATE (Nov. 13, 2023): confirmed that when we have multiple artifacts, the code checks pull the one corresponding to the latest nightly build as expected.