From 9cbf6edabecb6c7a9c6ab747e7f24ac136c0e470 Mon Sep 17 00:00:00 2001
From: Rooholla-KhorramBakht <learn.kho@gmail.com>
Date: Fri, 15 Mar 2024 22:43:58 -0400
Subject: [PATCH] mujoco sim bug fixed

---
 examples/mujoco_test.ipynb | 38 +++++++-------------------------------
 1 file changed, 7 insertions(+), 31 deletions(-)

diff --git a/examples/mujoco_test.ipynb b/examples/mujoco_test.ipynb
index b1bbd52..a876168 100644
--- a/examples/mujoco_test.ipynb
+++ b/examples/mujoco_test.ipynb
@@ -2,7 +2,7 @@
  "cells": [
   {
    "cell_type": "code",
-   "execution_count": 1,
+   "execution_count": null,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -12,43 +12,19 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 2,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "ename": "AttributeError",
-     "evalue": "'Go2Sim' object has no attribute 'resetStanding'",
-     "output_type": "error",
-     "traceback": [
-      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
-      "\u001b[0;31mAttributeError\u001b[0m                            Traceback (most recent call last)",
-      "Cell \u001b[0;32mIn[2], line 2\u001b[0m\n\u001b[1;32m      1\u001b[0m robot \u001b[38;5;241m=\u001b[39m Go2Sim()\n\u001b[0;32m----> 2\u001b[0m \u001b[43mrobot\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mresetStanding\u001b[49m()\n",
-      "\u001b[0;31mAttributeError\u001b[0m: 'Go2Sim' object has no attribute 'resetStanding'"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "robot = Go2Sim()\n",
-    "robot.resetStanding()"
+    "robot.standUp()"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 3,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "ename": "NameError",
-     "evalue": "name 'env' is not defined",
-     "output_type": "error",
-     "traceback": [
-      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
-      "\u001b[0;31mNameError\u001b[0m                                 Traceback (most recent call last)",
-      "Cell \u001b[0;32mIn[3], line 7\u001b[0m\n\u001b[1;32m      5\u001b[0m \u001b[38;5;28;01mfor\u001b[39;00m i \u001b[38;5;129;01min\u001b[39;00m \u001b[38;5;28mrange\u001b[39m(\u001b[38;5;241m100000\u001b[39m):\n\u001b[1;32m      6\u001b[0m     q,dq \u001b[38;5;241m=\u001b[39m robot\u001b[38;5;241m.\u001b[39mgetJointStates()\n\u001b[0;32m----> 7\u001b[0m     tau \u001b[38;5;241m=\u001b[39m \u001b[38;5;241m20\u001b[39m\u001b[38;5;241m*\u001b[39mnp\u001b[38;5;241m.\u001b[39meye(\u001b[38;5;241m12\u001b[39m)\u001b[38;5;241m@\u001b[39m(\u001b[43menv\u001b[49m\u001b[38;5;241m.\u001b[39mq0 \u001b[38;5;241m-\u001b[39m q)\u001b[38;5;241m.\u001b[39mreshape(\u001b[38;5;241m12\u001b[39m,\u001b[38;5;241m1\u001b[39m)\n\u001b[1;32m      8\u001b[0m     robot\u001b[38;5;241m.\u001b[39msetCommands(np\u001b[38;5;241m.\u001b[39mzeros(\u001b[38;5;241m12\u001b[39m), np\u001b[38;5;241m.\u001b[39mzeros(\u001b[38;5;241m12\u001b[39m), np\u001b[38;5;241m.\u001b[39mzeros(\u001b[38;5;241m12\u001b[39m), np\u001b[38;5;241m.\u001b[39mzeros(\u001b[38;5;241m12\u001b[39m), tau)\n\u001b[1;32m      9\u001b[0m     env\u001b[38;5;241m.\u001b[39mstep()\n",
-      "\u001b[0;31mNameError\u001b[0m: name 'env' is not defined"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "import mujoco\n",
     "import time\n",
@@ -58,7 +34,7 @@
     "    q,dq = robot.getJointStates()\n",
     "    tau = 20*np.eye(12)@(robot.q0 - q).reshape(12,1)\n",
     "    robot.setCommands(np.zeros(12), np.zeros(12), np.zeros(12), np.zeros(12), tau)\n",
-    "    env.step()"
+    "    robot.step()"
    ]
   },
   {