Jean Elsner

Training without reconstruction loss

3

The fully connected layers added on top of the capsule network consist of ~1.6m parameters, whereas the capsules only have roughly 60k trainable parameters in the _small_ configuration. As the...

fix: automatically download MuJoCo tar

5

The MuJoCo .tar file path is always set by default and therefore never downloaded. I fixed this in https://github.com/google-deepmind/dm_robotics/pull/19/commits/633bcfd74dbea91ce30229f35e94f4a4dde4c771. Additionally, there are some references to MJLIB_PATH which is no longer...

Defaults/Classes for Body elements

2

Adding classes/defaults for body elements could make some MJCF models more compact. This could be used to set the `gravcomp` attribute for a kinematic chain for instance using the `childclass`...

This updates the build process to support newer libfranka versions that depend on pinocchio. The package is also built using the current pybind11 version to support numpy 2, this change...