trying to create a new test

.github/workflows/python-package.yml

@@ -16,26 +16,51 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python-version: ["3.8", "3.9", "3.10"]
+        python-version: [ "3.8", "3.9", "3.10" ]
 
     steps:
-    - uses: actions/checkout@v3
-    - name: Set up Python ${{ matrix.python-version }}
-      uses: actions/setup-python@v3
-      with:
-        python-version: ${{ matrix.python-version }}
-    - name: Install dependencies
-      run: |
-        python -m pip install --upgrade pip
-        python -m pip install .[test]
-        python -m pip install flake8 pytest
-        if [ -f requirements.txt ]; then pip install -r requirements.txt; fi
-    - name: Lint with flake8
-      run: |
-        # stop the build if there are Python syntax errors or undefined names
-        flake8 . --count --select=E9,F63,F7,F82 --show-source --statistics
-        # exit-zero treats all errors as warnings. The GitHub editor is 127 chars wide
-        flake8 . --count --exit-zero --max-complexity=10 --max-line-length=127 --statistics
-    - name: Test with pytest
-      run: |
-        pytest
+      - uses: actions/checkout@v3
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v3
+        with:
+          python-version: ${{ matrix.python-version }}
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          python -m pip install .[test]
+          python -m pip install flake8 pytest
+          if [ -f requirements.txt ]; then pip install -r requirements.txt; fi
+      - name: Lint with flake8
+        run: |
+          # stop the build if there are Python syntax errors or undefined names
+          flake8 . --count --select=E9,F63,F7,F82 --show-source --statistics
+          # exit-zero treats all errors as warnings. The GitHub editor is 127 chars wide
+          flake8 . --count --exit-zero --max-complexity=10 --max-line-length=127 --statistics
+      - name: Test with pytest
+        run: |
+          pytest
+
+  test-shadow-hand:
+
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Clone mujoco_menagerie repository
+        run: |
+          git clone https://github.com/google-deepmind/mujoco_menagerie
+        working-directory: ${{ runner.workspace }}
+
+      - name: Copy test_shadow_hand.py to mujoco_menagerie/shadow_hand
+        run: |
+          cp test_shadow_hand.py mujoco_menagerie/shadow_hand
+        working-directory: ${{ runner.workspace }}
+
+      - name: Navigate to shadow_hand folder
+        run: |
+          cd mujoco_menagerie/shadow_hand
+        working-directory: ${{ runner.workspace }}/mujoco_menagerie
+
+      - name: Run test_shadow_hand.py
+        run: |
+          pytest test_shadow_hand.py
+        working-directory: ${{ runner.workspace }}/mujoco_menagerie/shadow_hand

tests/test_shadow_hand.py

@@ -0,0 +1,15 @@
+import numpy as np
+
+import pytorch_kinematics as pk
+
+
+def test_shadow_hand():
+    with open('right_hand.xml') as f:
+        xml = f.read()
+    chain = pk.build_chain_from_mjcf(xml)
+    print(chain.get_frame_names())
+    print(chain.get_joint_parameter_names())
+    th = np.zeros(len(chain.get_joint_parameter_names()))
+    fk_dict = chain.forward_kinematics(th, end_only=True)
+    print(fk_dict['rh_lfproximal'])
+    print(fk_dict['rh_lfdistal'])