make hopper work

UM-ARM-Lab · Sep 18, 2023 · 627e201 · 627e201
1 parent abb13b6
commit 627e201
Show file tree

Hide file tree

Showing 5 changed files with 41 additions and 34 deletions.
diff --git a/.github/workflows/python-package.yml b/.github/workflows/python-package.yml
@@ -52,7 +52,7 @@ jobs:
 
       - name: Copy test_shadow_hand.py to mujoco_menagerie/shadow_hand
         run: |
-          cp test_shadow_hand.py mujoco_menagerie/shadow_hand
+          cp tests/menagerie_test_shadow_hand.py mujoco_menagerie/shadow_hand/test_shadow_hand.py
         working-directory: ${{ runner.workspace }}
 
       - name: Navigate to shadow_hand folder

diff --git a/tests/ant.xml b/tests/ant.xml
@@ -1,5 +1,5 @@
 <mujoco model="ant">
-  <compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
+  <compiler angle="degree"/>
   <option integrator="RK4" timestep="0.01"/>
   <custom>
     <numeric data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" name="init_qpos"/>

diff --git a/tests/hopper.xml b/tests/hopper.xml
@@ -1,34 +1,41 @@
 <mujoco model="hopper">
-  <compiler angle="degree" inertiafromgeom="true"/>
-  <default>
-    <joint armature="1" damping="1" limited="true"/>
-    <geom conaffinity="1" condim="1" contype="1" margin="0.001" friction="0.8 .1 .1"  rgba="0.8 0.6 .4 1" solimp=".8 .8 .01" solref=".02 1"/>
-    <motor ctrllimited="true" ctrlrange="-.4 .4"/>
-  </default>
-  <option integrator="RK4" timestep="0.002"/>
-  <worldbody>
-    <body name="torso">
-      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignore1" pos="0 0 0" stiffness="0" type="slide"/>
-      <joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignore2" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
-      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignore3" pos="0 0 0" stiffness="0" type="hinge"/>
-      <geom fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
-      <body name="thigh">
-        <joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
-        <geom fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
-        <body name="leg">
-          <joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
-          <geom fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
-          <body name="foot">
-            <joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
-            <geom fromto="-0.13 0 0.1 0.26 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
-          </body>
+    <compiler angle="degree"/>
+    <default>
+        <joint armature="1" damping="1" limited="true"/>
+        <geom conaffinity="1" condim="1" contype="1" margin="0.001" friction="0.8 .1 .1" rgba="0.8 0.6 .4 1"
+              solimp=".8 .8 .01" solref=".02 1"/>
+        <motor ctrllimited="true" ctrlrange="-.4 .4"/>
+    </default>
+    <option integrator="RK4" timestep="0.002"/>
+    <worldbody>
+        <body name="torso">
+            <inertial mass="10" pos="0 0 0" diaginertia="0.1 0.1 0.1"/>
+            <joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignore1" stiffness="0" type="slide"/>
+            <body>
+                <inertial mass="1" pos="0 0 0" diaginertia="0.01 0.01 0.01"/>
+                <joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignore2" ref="1.25" stiffness="0" type="slide"/>
+                <body>
+                    <joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignore3" stiffness="0" type="hinge"/>
+                    <geom fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
+                    <body name="thigh">
+                        <joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
+                        <geom fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
+                        <body name="leg">
+                            <joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
+                            <geom fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
+                            <body name="foot">
+                                <joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
+                                <geom fromto="-0.13 0 0.1 0.26 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
         </body>
-      </body>
-    </body>
-  </worldbody>
-  <actuator>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="thigh_joint"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="leg_joint"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="foot_joint"/>
-  </actuator>
+    </worldbody>
+    <actuator>
+        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="thigh_joint"/>
+        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="leg_joint"/>
+        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="foot_joint"/>
+    </actuator>
 </mujoco>
diff --git a/tests/humanoid.xml b/tests/humanoid.xml
@@ -1,5 +1,5 @@
 <mujoco model='humanoid'>
-    <compiler inertiafromgeom='true' angle='degree'/>
+    <compiler angle='degree'/>
 
     <default>
         <joint limited='true' damping='1' armature='0' />

diff --git a/tests/test_shadow_hand.py → tests/menagerie_test_shadow_hand.py b/tests/test_shadow_hand.py → tests/menagerie_test_shadow_hand.py