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Add Unitree H1 Walk task#336

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Commits on Apr 26, 2024

• [REF] Increased max message size for grpc servers

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Commits on May 7, 2024

• [ADD] Add Unitree H1 Walk task

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• [ADD] Add utility for visualization in mujoco

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• [ADD] Add utility for plotting live graphs

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• [ADD] Add utility for live parameter editing

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Commits on May 12, 2024

• [REF] Model checkpoint for H1 walk

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• [DOC] Fix comment

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Commits on Jul 21, 2024

• [ADD] Point plotting in mujoco

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• [ADD] python script for h1 walk tuning

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Commits on Jul 25, 2024

• [ADD] Add a new cost term which penalizes the feet crossing

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Commits on Aug 4, 2024

• [REM] Useless files for the PR

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• [REM] H1 walk baseline task, as it shouldn't be in the PR

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• [REM] Useless comments

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• [DOC] Updated comments

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• Merge branch 'main' of https://github.com/google-deepmind/mujoco_mpc into google-deepmind-main

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• Merge branch 'google-deepmind-main' into feature-h1-walk

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Commits on Aug 14, 2024

• [REF] Reduced agent horizon to 0.4s

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• [REF] Changed agent integrator to 'implicitfast'

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• [DOC] Added spaces after '//'

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• [REM] Removed useless function and comments

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• [REF] Formatted code with 'clang-format' vscode extension

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• [REF] Removed links to local machine in patch file

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Commits on Sep 3, 2024

• - [ADD] Robot now follows orientation reference (mocap quaternion) after reaching position reference (mocap position)

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Commits on Sep 7, 2024

• - [FIX] Fixed a bug in the "Face goal" residual calculation

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• [DOC] Updated comment

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Commits on Sep 23, 2024

• [REF] 'Face Goal' now takes into account the four orientations separately

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