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Caltech-AMBER / ambersim

In-house tools built on GPU-accelerated simulation
MIT License
7 stars 2 forks source link

Add option to install `mujoco` from source #10

Closed alberthli closed 12 months ago

alberthli commented 1 year ago

Requested by @kli58. Allows pulling the most recent changes in between releases. Also change the default solver to NEWTON in load_mj_model_from_file after fixing.

vincekurtz commented 1 year ago

Also seems pretty essential given that MJX v3.0.0 has a nasty bug with models with one actuator: https://github.com/google-deepmind/mujoco/issues/1135

alberthli commented 1 year ago

I'm working on correctly parsing URDFs right now by writing our own in-house util. Would you be interested in picking this up?

The main work here is figuring out how to cleanly edit the pyproject.toml so that we have a choice between the pypi release and some pinned github commit (or whatever is just on there most recently on main). I couldn't immediately figure out how to both give a choice and install the pypi one by default - it's easy to just make two different dependency groups that are optional, though.

vincekurtz commented 1 year ago

Per f2f, we'll try to see if it's possible to install the latest MJX without completely rebuilding mujoco C++