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[feat] Equality constraints from the model, cassie examples #35

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Merged
domrachev03 merged 60 commits into from
Mar 18, 2025
Merged

[feat] Equality constraints from the model, cassie examples #35

domrachev03 merged 60 commits into from
Mar 18, 2025

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@domrachev03 domrachev03 commented Mar 10, 2025

This MR implements equality constraints, which are parsed from equality constraints from MuJoco.

This is utilized to create two examples: squats and Angular LIP planner-based walking

domrachev03 and others added 30 commits March 2, 2025 00:55
@domrachev03
feat: introduce types of barrier constraints
800a9b9
@domrachev03
feat: init Model class
5c13b85
@domrachev03
fix: fix typo
535d919
@domrachev03
Revert "feat: introduce types of barrier constraints"
cf2b3f4 
This reverts commit 954b9d8.
@domrachev03
feat: renewed constraints; base, object, equality (weld, connect) con…
5e07441 
…straints
@domrachev03
fix: make second object name required
079d73f
@domrachev03
fix: proper jax class type
dd32dde
@domrachev03
feat: joint constraint
9962e67
@domrachev03
fix: extra inverse in difference frame
c50a2a7
@domrachev03
feat: frame constraint
ba2bf99
@domrachev03
feat: position constraint
96c53f0
@domrachev03
feat: joint constraint
4a5f406
@domrachev03
fix: change joint_difference to array difference, to underline requir…
60deda8 
…ement on scalar joints in joint task and barrier
@domrachev03
feat: add active flag to the constraint
bdbe4fe
@domrachev03
feat: support for constraints in locak IK solver
e06dedb
@domrachev03
fix: add NotImplementedError in global IK for constraints
e1aa702
@domrachev03
fix: minor fixes based on examples
e9f5bff
@domrachev03
example: manipulator constrained local ik
be22d93
@domrachev03
hotfix: remove debug pring
81d84ee
@domrachev03
example: go2 and g1 examples with constrained contact
bf12461
@domrachev03
fix: frame constraint fix
1d54a38
@domrachev03
wip: rework equality constraints, does not work
cf82c8e
@domrachev03
fix: generalize joint barrier and task to handle multiple nonscalar j…
ec7588c 
…oints
@domrachev03
hotfix: joint task and barrier user mask
604d5cb
@domrachev03
example: cassie example, closed kin does not work
927b0ca
@domrachev03
example: working cassie example
b8d844a
@domrachev03
fix: joint barrier and task fix
ba3d71a
@domrachev03
fix: everything works
3c06a71
@domrachev03
example: cassie squat batched
92ac24b
@domrachev03
chore: remove all constraints except for equality constraint
5b3c274
domrachev03 and others added 28 commits March 9, 2025 21:16
@domrachev03
feat: rotational motion in ALIP, legs only
468dbc8
@domrachev03
feat: torso orientation in ALIP example
1ed6702
@domrachev03
refactor: clean up ALIP example
4bd7c96
@domrachev03
hotfix: Simeon, ne bei
f5f40c0
@domrachev03
feat: proper alip implementation
8e50fce
@simeon-ned
minor prints in examples
6c4d76d
@domrachev03
wip: sobaki layut, karavan idet
6f8b3f0
@domrachev03
feat: finalize example, add visualizations
a9bf214
@domrachev03
Merge branch 'main' into feat/constraints
3ee6187
@domrachev03
docs: add caravan to the documentation
8903af2
@domrachev03
chore: remove redundant example
14a5f1f
@domrachev03
chore: attempt to rework README gifs
9c35067
@domrachev03
chore: attempt to rework README gifs
91d8226
@domrachev03
chore: attempt to rework README gifs
d75c803
@domrachev03
Update README.md
462b48f
@domrachev03
fix: fix joint task for new format, like joint barrier
4f4f877
@domrachev03
test: update joint task and barrier tests
9202935
@domrachev03
test: update configuration tests
07ba649
@domrachev03
chore: add mujoco copyright to copied functions
d9be3fb
@domrachev03
chore: udpate disclamer for collision file
753a39c
@domrachev03
test: finalize unit tests
3fdf015
@domrachev03
docs: add documentation for constraints
c19ef58
@domrachev03
ci: attempt to fix problems with mypy
0bc3b11
@domrachev03
refactor: ruff format
412b94a
@domrachev03
hotfix: pipeline
ccb0ce0
@domrachev03
chore: attempt to fix tests
65be784
@domrachev03
chore: update cast of one variable
0a899b2
@domrachev03
chore: accidentally broke the test
7a71ce2
@domrachev03 domrachev03 merged commit 43c6463 into main Mar 18, 2025
8 checks passed
@domrachev03 domrachev03 deleted the feat/constraints branch May 1, 2025 10:27
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3 participants

@domrachev03 @simeon-ned