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Added ability to give Mujoco initial conditions from the keyframes. #103

Merged
merged 3 commits into from
Jul 29, 2024
Merged

Added ability to give Mujoco initial conditions from the keyframes. #103

merged 3 commits into from
Jul 29, 2024

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Zolkin1
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@Zolkin1 Zolkin1 commented Jul 26, 2024 •
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Added ability to start simulation from Mujoco key frames.

Note that key frame are automatically checked for compatibility by Mujoco so there is no need to verify sizes.

Currently only support qpos, qvel, ctrl, and time.

@Zolkin1 Zolkin1 marked this pull request as ready for review July 26, 2024 17:30
@Zolkin1 Zolkin1 requested review from alberthli and gavin-hyl July 26, 2024 17:31
gavin-hyl
gavin-hyl approved these changes Jul 29, 2024
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Everything makes sense! One small question, why is the convention in this repo self.declare_parameter instead of just self.param = ...?

@gavin-hyl gavin-hyl merged commit 6296c0d into main Jul 29, 2024
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@gavin-hyl gavin-hyl gavin-hyl approved these changes

@alberthli alberthli Awaiting requested review from alberthli

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@Zolkin1 @gavin-hyl