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Peter
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make hopper work
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+41
-34
lines changed

5 files changed

+41
-34
lines changed

‎.github/workflows/python-package.yml

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Original file line numberDiff line numberDiff line change
@@ -52,7 +52,7 @@ jobs:
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- name: Copy test_shadow_hand.py to mujoco_menagerie/shadow_hand
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run: |
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cp test_shadow_hand.py mujoco_menagerie/shadow_hand
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cp tests/menagerie_test_shadow_hand.py mujoco_menagerie/shadow_hand/test_shadow_hand.py
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working-directory: ${{ runner.workspace }}
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- name: Navigate to shadow_hand folder

‎tests/ant.xml

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
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<mujoco model="ant">
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<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
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<compiler angle="degree"/>
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<option integrator="RK4" timestep="0.01"/>
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<custom>
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<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"/>

‎tests/hopper.xml

Lines changed: 38 additions & 31 deletions
Original file line numberDiff line numberDiff line change
@@ -1,34 +1,41 @@
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<mujoco model="hopper">
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<compiler angle="degree" inertiafromgeom="true"/>
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<default>
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<joint armature="1" damping="1" limited="true"/>
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<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"/>
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<motor ctrllimited="true" ctrlrange="-.4 .4"/>
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</default>
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<option integrator="RK4" timestep="0.002"/>
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<worldbody>
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<body name="torso">
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<joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignore1" pos="0 0 0" stiffness="0" type="slide"/>
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<joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignore2" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
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<joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignore3" pos="0 0 0" stiffness="0" type="hinge"/>
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<geom fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
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<body name="thigh">
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<joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
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<geom fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
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<body name="leg">
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<joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
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<geom fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
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<body name="foot">
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<joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
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<geom fromto="-0.13 0 0.1 0.26 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
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</body>
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<compiler angle="degree"/>
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<default>
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<joint armature="1" damping="1" limited="true"/>
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<geom conaffinity="1" condim="1" contype="1" margin="0.001" friction="0.8 .1 .1" rgba="0.8 0.6 .4 1"
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solimp=".8 .8 .01" solref=".02 1"/>
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<motor ctrllimited="true" ctrlrange="-.4 .4"/>
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</default>
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<option integrator="RK4" timestep="0.002"/>
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<worldbody>
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<body name="torso">
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<inertial mass="10" pos="0 0 0" diaginertia="0.1 0.1 0.1"/>
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<joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignore1" stiffness="0" type="slide"/>
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<body>
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<inertial mass="1" pos="0 0 0" diaginertia="0.01 0.01 0.01"/>
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<joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignore2" ref="1.25" stiffness="0" type="slide"/>
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<body>
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<joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignore3" stiffness="0" type="hinge"/>
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<geom fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
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<body name="thigh">
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<joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
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<geom fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
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<body name="leg">
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<joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
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<geom fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
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<body name="foot">
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<joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
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<geom fromto="-0.13 0 0.1 0.26 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</worldbody>
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<actuator>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="thigh_joint"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="leg_joint"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="foot_joint"/>
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</actuator>
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</worldbody>
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<actuator>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="thigh_joint"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="leg_joint"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="foot_joint"/>
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</actuator>
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</mujoco>

‎tests/humanoid.xml

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Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
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<mujoco model='humanoid'>
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<compiler inertiafromgeom='true' angle='degree'/>
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<compiler angle='degree'/>
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<default>
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<joint limited='true' damping='1' armature='0' />

‎tests/test_shadow_hand.py renamed to ‎tests/menagerie_test_shadow_hand.py

File renamed without changes.

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