google-deepmind / mujoco_mpc

Real-time behaviour synthesis with MuJoCo, using Predictive Control

https://github.com/deepmind/mujoco_mpc

Apache License 2.0

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Model patches #254

Closed thowell closed 5 months ago

thowell commented 6 months ago

Utilize "patch" to modify MuJoCo Menagerie models instead of including a fork in MJPC.

Menagerie models

[x] Shadow hand cube reorientation
[x] Panda manipulation
[x] Skydio quadrotor
[x] A1 quadruped
[x] Allegro cube reorientation #243
[x] OP3 #251
[x] Cube solving #252

dm_control models

[x] acrobot
[x] cartpole
[x] humanoid
[x] swimmer
[x] particle
[x] walker

Documentation

[x] Generate patch file
[x] Update CMakeLists

Other

[x] Pin Menagerie version
[x] Pin dm_control version

Test data

[x] cartpole [removed]
[x] particle [leaving]
[x] particle (estimator)
[x] quadruped (estimator) [removed]

Misc

[x] Fix Agent Python API tests #278

256