Merge pull request #132 from MyoHub/dev

MyoChallenge'23 Release
MyoHub · Jan 11, 2024 · dbcb8bd · dbcb8bd
2 parents 5f1aa16 + d5ba2a1
commit dbcb8bd
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diff --git a/myosuite/agents/baseline_Reflex/ReflexCtrInterface.py b/myosuite/agents/baseline_Reflex/ReflexCtrInterface.py
@@ -56,7 +56,7 @@ def __init__(self, init_dict=DEFAULT_INIT_POSE, dt=0.01, mode='3D', sim_time=2.0
         curr_dir = os.getcwd()
         register_env_variant(
                     env_id='myoLegDemo-v0',
-                    variants={'model_path': curr_dir+'/../../simhive/myo_sim/myoleg/myoleg_v0.52(mj120).mjb',
+                    variants={'model_path': curr_dir+'/../../simhive/myo_sim/leg/myolegs.xml',
                               'normalize_act':False},
                     variant_id='MyoLegReflex-v0',
                     silent=False

diff --git a/myosuite/envs/myo/assets/arm/myoarm_relocate.xml b/myosuite/envs/myo/assets/arm/myoarm_relocate.xml
@@ -0,0 +1,74 @@
+<mujoco model="MyoArm_v0.01">
+<!-- =================================================
+    Copyright 2020 Vikash Kumar, Vittorio Caggiano, Guillaume Durandau
+    Model   :: Myo Hand (MuJoCoV2.0)
+    Author  :: Vikash Kumar ([email protected]), Vittorio Caggiano, Huawei Wang
+    source  :: https://github.com/vikashplus
+    License :: Under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
+====================================================== -->
+
+    <include file="../../../../simhive/myo_sim/arm/assets/myoarm_assets.xml"/>
+    <include file="../../../../simhive/myo_sim/scene/myosuite_scene.xml"/>
+    <compiler meshdir='../../../../simhive/myo_sim/' texturedir='../../../../simhive/myo_sim/'/>
+
+    <asset>
+        <texture name="tabletop" type="2d" file="../furniture_sim/common/textures/stone1.png"/>
+        <material name="tabletop" texture="tabletop" rgba=".95 .95 .95 1"/>
+        <texture name="texwood" type="cube" file="../myo_sim/scene/floor0.png"/>
+        <material name="matwood" reflectance="0.01" texture="texwood" texuniform="false"/>
+    </asset>
+
+    <worldbody>
+
+        <!-- ======= MyoArm ======= -->
+        <geom name="body" type="mesh" mesh="body_norighthand" euler="0 0 3.14" contype="0" conaffinity="0"/>
+        <body name="full_body" pos="-.025 0.1 1.40">
+            <include file="../../../../simhive/myo_sim/arm/assets/myoarm_body.xml"/>
+        </body>
+
+        <!-- ======= Table ======= -->
+        <body name="table" pos="0 -.5 .85">
+            <geom name="table_top" type="box" size=".8 .5 .05" contype="1" conaffinity="1" material="tabletop"/>
+            <geom name="table_base" type="box" size=".35 .6 .45" pos="0 0 -.45" euler="0 0 1.57" contype="1" conaffinity="1" material="matwood"/>
+        </body>
+
+        <!-- ======= Object ======= -->
+        <body name="Object" pos="0 -.25 .95">
+            <joint name="OBJTx" pos="0 0 0" axis="1 0 0" limited="true" type="slide" range="-1.20 1.55" damping="0.001" />
+            <joint name="OBJTy" pos="0 0 0" axis="0 1 0" limited="true" type="slide" range="-1.10 1.20" damping="0.001" />
+            <joint name="OBJTz" pos="0 0 0" axis="0 0 1" limited="true" type="slide" range="-1.10 1.35" damping="0.001" />
+            <joint name="OBJRx" pos="0 0 0  " axis="1 0 0" limited="false" damping="0.001" />
+            <joint name="OBJRy" pos="0 0 0" axis="0 1 0" limited="false" damping="0.001" />
+            <joint name="OBJRz" pos="0 0 0" axis="0 0 1" limited="false" damping="0.001" />
+            <geom type="box" size="0.0284 0.0284 0.0284" euler="0.001 0.001 0.001" condim="4" rgba=".5 .2 .7 1" contype="1" conaffinity="1"/>
+            <geom type="box" size="0.00284 0.00284 0.00284" euler="0.001 0.001 0.001" condim="4" rgba=".5 .2 .7 1" contype="1" conaffinity="1"/> <!-- dummy geom for creating different objects-->
+            <geom type="box" size="0.00284 0.00284 0.00284" euler="0.001 0.001 0.001" condim="4" rgba=".5 .2 .7 1" contype="1" conaffinity="1"/> <!-- dummy geom for creating different objects-->
+            <site name="object_o" type="sphere" size="0.005" rgba="0.8 0.8 0.8 0.8" group="4" pos="0 0 0" />
+            <site name="object_x" type="sphere" size="0.005" rgba="0.8 0.2 0.2 0.8" group="4" pos="0.028 0 0" />
+            <site name="object_y" type="sphere" size="0.005" rgba="0.2 0.8 0.2 0.8" group="4" pos="0 .028 0" />
+            <site name="object_z" type="sphere" size="0.005" rgba="0.2 0.2 0.8 0.8" group="4" pos="0 0 .028" />
+        </body>
+
+        <!-- ======= BIN ======= -->
+        <body name="target" pos="0 -.25 0.9" euler="0.001 0.001 0.001" mocap="true">
+            <!-- <geom name="target_dice" type="box" size="0.026 0.026 0.026" contype="0" conaffinity="0" rgba='.1 1 .1 .3' group="2" /> -->
+            <geom name="base" type="box" size="0.10 0.10 0.10" pos="0.0 0.0 -.09" contype="1" conaffinity="1" group="2" material="matwood"/>
+            <geom name="wall0" type="box" size="0.10 0.01 0.10" pos="0 0.091 0.1" contype="1" conaffinity="1" group="2" material="matwood"/>
+            <geom name="wall1" type="box" size="0.01 0.10 0.10" pos="0.091 0 0.1" contype="1" conaffinity="1" group="2" material="matwood"/>
+            <geom name="wall2" type="box" size="0.10 0.01 0.10" pos="0 -.091 0.1" contype="1" conaffinity="1" group="2" material="matwood"/>
+            <geom name="wall3" type="box" size="0.01 0.10 0.10" pos="-.091 0 0.1" contype="1" conaffinity="1" group="2" material="matwood"/>
+
+            <site name="target_ball" type="sphere" size="0.045" rgba="0.2 1.7 0.2 0.1"/>
+            <site name="target_o" type="sphere" size="0.005" rgba="0.8 0.8 0.8 0.8" group="4" pos="0 0 0" />
+            <site name="target_x" type="sphere" size="0.005" rgba="0.8 0.2 0.2 0.8" group="4" pos="0.03 0 0" />
+            <site name="target_y" type="sphere" size="0.005" rgba="0.2 0.8 0.2 0.8" group="4" pos="0 .03 0" />
+            <site name="target_z" type="sphere" size="0.005" rgba="0.2 0.2 0.8 0.8" group="4" pos="0 0 .03" />
+        </body>
+
+    </worldbody>
+
+    <keyframe>
+        <key qpos='-0.022856 0.00967764 -0.00968029 0.10125 -0.00458344 0.20262 0.0828 -0.0168106 -0.2149 0.03876 0.168055 0.17281 -0.254074 -0.109975 1.11181 0.92689 0.106468 0 0.332 0.4114 -0.177165 -0.26182 0.18852 0.17017 0.447735 0.26707 0.28278 -0.010472 0.0168535 0.00701979 0.09139 -0.06545 0.243505 0.337765 0.23565 -0.101844 0.000607067 0.03142 -.2 0 -0.02 0 0 0'/>
+        <key qpos='-0.022856 0.01113 -0.08268 0.10125 -0.0494 0.16578 0.11868 -0.1932 -0.19648 0.03876 0.168055 0.17281 -0.254074 -0.109975 1.47485 1.28822 0.106468 -0.27489 0.332 0.4114 -0.177165 -0.26182 0.18852 0.17017 0.447735 0.26707 0.28278 -0.010472 0.0168535 0.00701979 0.09139 -0.06545 0.243505 0.337765 0.23565 -0.101844 0.000607067 0.03142 -0.2 0 -0.02 0 0 0'/>
+    </keyframe>
+</mujoco>
diff --git a/myosuite/envs/myo/assets/leg/myolegs_chasetag.xml b/myosuite/envs/myo/assets/leg/myolegs_chasetag.xml
@@ -0,0 +1,57 @@
+<?xml version="1.0" ?>
+<mujoco model="MyoSuite's MyoQuad">
+<!-- =================================================
+    Copyright 2023 MyoSuite
+    Model   :: Myo Quad (MuJoCoV2.7)
+    Author  :: Vikash Kumar ([email protected]), Vittorio Caggiano, Pierre Schumahchar, Chun Kwang Tan
+    source  :: https://github.com/MyoHub/MyoSuite
+    License :: Under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
+====================================================== -©vk©-->
+
+    <include file="../../../../simhive/myo_sim/torso/assets/myotorsorigid_assets.xml"/>
+    <include file="../../../../simhive/myo_sim/leg/assets/myolegs_assets.xml"/>
+    <include file="../../../../simhive/myo_sim/scene/myosuite_quad.xml"/>
+    <compiler meshdir='../../../../simhive/myo_sim/' texturedir='../../../../simhive/myo_sim/'/>
+
+    <asset>
+        <hfield name="terrain" size="6 6 1 0.001" nrow="100" ncol="100"/>
+        <texture name="texmyo" type="cube" file="scene/myosuite_icon.png"/>
+        <material name="matmyo" texture="texmyo" rgba="1 1 1 1"/>
+    </asset>
+
+    <worldbody>
+        <geom name="terrain" type="hfield" hfield="terrain" pos="0 0 -0.005" material="matfloor" conaffinity="1" contype="1" rgba=".9 .9 .9 1"/>
+
+    <!-- <camera name="side_view" pos="-3 0 2.25" xyaxes="0 -1 0 1 0 2" mode="trackcom"/> -->
+
+
+        <!-- ======= Opponent ======= -->
+        <body name='opponent' pos="0 0 0" zaxis="0 0 1" mocap="true">
+            <light directional="false" diffuse=".25 .25 .25" specular="0.25 0.25 0.25" pos="0 -3 3" dir="0 1 -1" mode="trackcom"/>
+            <camera name="opponent_view" pos="4 0 2.75" xyaxes="0 1 0 -1 0 2" mode="trackcom"/>
+            <geom name="base" type="capsule" pos="0 0 0.15" euler="0 0 0" size="0.25 0.15" rgba=".11 .1 .1 1" group="2" contype="0" conaffinity="0"/>            
+            <geom name="base_bar" type="cylinder" pos="0 0 0.8" euler="0 0 0" size="0.078 0.28" rgba=".7 .7 .7 1" group="2" contype="0" conaffinity="0"/>
+            <geom name="logo" type="sphere" pos="0 0 1.20" euler="1.57 0 0" size="0.25 0.02010" material="matmyo" group="2" contype="0" conaffinity="0"/>
+            <site name="opponent_indicator" size="0.3" pos="0 0 1.2" rgba="0 0 0 0"/>
+        </body>
+
+        <!-- ======= MyoAgent ======= -->
+        <site name="pelvis_target" size="0.02" pos="0 0 .92" group="4"/>
+        <body name="root" pos="0 0 1" euler="0 0 -1.57">
+            <light directional="false" diffuse=".25 .25 .25" specular="0.25 0.25 0.25" pos="3 0 2" dir="-1 0 -1" mode="trackcom"/>
+            <camera name="agent_view" pos="4 0 1.85" xyaxes="0 1 0 -1 0 2" mode="trackcom"/>
+            <site name="head" size="0.02" pos="0 0 1.80" group="4"/>
+            <include file="../../../../simhive/myo_sim/torso/assets/myotorsorigid_chain.xml"/>
+            <include file="../../../../simhive/myo_sim/leg/assets/myolegs_chain.xml"/>
+            <freejoint name="root"/>
+        </body>
+    </worldbody>
+
+    <keyframe>
+        <key qpos='0 0 .92 0.707388 0 0 -0.706825 0.161153 -0.0279385 -0.041886 0.00247908 0.00101098 0.461137 0.0275069 0.136817 0.334 -0.00117055 -0.000125295 -0.0302192 0.0395202 -0.194029 0.161153 -0.0279385 -0.041886 0.00247908 0.00101098 0.461137 0.0275069 0.136817 0.334 -0.00117055 -0.000125295 -0.0302192 0.0395202 -0.194029'/>
+        <key qpos='0 0 .9 0.707388 0 0 -0.706825 0.405648 -0.020957 -0.118677 0.0039054 0.00122326 0.7329 0.0102961 0.215496 0.40143 -0.006982 -0.02618 -0.03738 0.0080579 -0.87272 0.405648 -0.020957 -0.118677 0.0039054 0.00122326 0.7329 0.0102961 0.215496 0.40143 -0.006982 -0.02618 -0.03738 0.0080579 -0.87272'/>
+        <key qpos='0 0 1.0 0.707388 0 0 -0.706825 -0.2326 -0.0279385 -0.041886 0.00247908 0.00101098 1.227 0.0275069 0.136817 0.1672 -0.00117055 -0.000125295 -0.0302192 0.0395202 -0.194029 -0.1652 -0.0279385 -0.041886 0.00247908 0.0010198 0.0888 0.0275069 0.136817 -0.019 -0.00117055 -0.000125295 -0.0302192 0.0395202 -0.194029' qvel='0 -1.5 0 0 0 0 4.9066 0 0 0 0 -3.597 0 0 0.633 0 0 0 0 0 0.175 0 0 0 0 0.175 0 0 0.988 0 0 0 0 0'/>
+        <key qpos='0 0 1.0 0.707388 0 0 -0.706825 -0.1652 -0.0279385 -0.041886 0.00247908 0.00101098 0.0888 0.0275069 0.136817 -0.019 -0.00117055 -0.000125295 -0.0302192 0.0395202 -0.194029 -0.2326 -0.0279385 -0.041886 0.00247908 0.0010198 1.227 0.0275069 0.136817 0.1672 -0.00117055 -0.000125295 -0.0302192 0.0395202 -0.194029' qvel='0 -1.5 0 0 0 0 -0.576 0 0 0 0 0.175 0 0 0.988 0 0 0 0 0 4.9066 0 0 0 0 -3.597 0 0 0.633 0 0 0 0 0'/>
+    </keyframe>
+
+</mujoco>
diff --git a/myosuite/envs/myo/myobase/__init__.py b/myosuite/envs/myo/myobase/__init__.py
@@ -287,11 +287,7 @@ def register_env_with_variants(id, entry_point, max_episode_steps, kwargs):
 # Gait Torso Reaching ==============================
 from myosuite.physics.sim_scene import SimBackend
 sim_backend = SimBackend.get_sim_backend()
-if sim_backend == SimBackend.MUJOCO_PY:
-    leg_model='/../../../simhive/myo_sim/leg/myolegs_v0.54(mj210).mjb'
-elif sim_backend == SimBackend.MUJOCO:
-    leg_model='/../../../simhive/myo_sim/leg/myolegs_v0.56(mj237).mjb'
-
+leg_model='/../../../simhive/myo_sim/leg/myolegs.xml'
 
 register_env_with_variants(id='myoLegStandRandom-v0',
         entry_point='myosuite.envs.myo.myobase.walk_v0:ReachEnvV0',

diff --git a/myosuite/envs/myo/myobase/walk_v0.py b/myosuite/envs/myo/myobase/walk_v0.py
@@ -62,6 +62,10 @@ def _setup(self,
         # Change the alpha value to make it transparent
         self.sim.model.geom_rgba[geom_1_indices, 3] = 0
 
+        # move heightfield down if not used
+        self.sim.model.geom_rgba[self.sim.model.geom_name2id('terrain')][-1] = 0.0
+        self.sim.model.geom_pos[self.sim.model.geom_name2id('terrain')] = np.array([0, 0, -10])
+
 
     def get_obs_dict(self, sim):
         obs_dict = {}
@@ -208,6 +212,10 @@ def _setup(self,
         self.init_qpos[:] = self.sim.model.key_qpos[0]
         self.init_qvel[:] = 0.0
 
+        # move heightfield down if not used
+        self.sim.model.geom_rgba[self.sim.model.geom_name2id('terrain')][-1] = 0.0
+        self.sim.model.geom_pos[self.sim.model.geom_name2id('terrain')] = np.array([0, 0, -10])
+
     def get_obs_dict(self, sim):
         obs_dict = {}
         obs_dict['t'] = np.array([sim.data.time])

diff --git a/myosuite/envs/myo/myochallenge/__init__.py b/myosuite/envs/myo/myochallenge/__init__.py
@@ -11,7 +11,7 @@
         entry_point='myosuite.envs.myo.myochallenge.relocate_v0:RelocateEnvV0',
         max_episode_steps=150,
         kwargs={
-            'model_path': curr_dir+'/../../../simhive/myo_sim/arm/myoarm_object_v0.16(mj237).mjb',
+            'model_path': curr_dir+'/../assets/arm/myoarm_relocate.xml',
             'normalize_act': True,
             'frame_skip': 5,
             'pos_th': 0.1,              # cover entire base of the receptacle
@@ -26,7 +26,7 @@
         entry_point='myosuite.envs.myo.myochallenge.relocate_v0:RelocateEnvV0',
         max_episode_steps=150,
         kwargs={
-            'model_path': curr_dir+'/../../../simhive/myo_sim/arm/myoarm_object_v0.16(mj237).mjb',
+            'model_path': curr_dir+'/../assets/arm/myoarm_relocate.xml',
             'normalize_act': True,
             'frame_skip': 5,
             'pos_th': 0.1,              # cover entire base of the receptacle
@@ -41,13 +41,33 @@
         }
     )
 
+# Register MyoChallenge Manipulation P2 Evals
+register(id='myoChallengeRelocateP2eval-v0',
+    entry_point='myosuite.envs.myo.myochallenge.relocate_v0:RelocateEnvV0',
+    max_episode_steps=150,
+    kwargs={
+        'model_path': curr_dir + '/../assets/arm/myoarm_relocate.xml',
+        'normalize_act': True,
+        'frame_skip': 5,
+        'pos_th': 0.1,              # cover entire base of the receptacle
+        'rot_th': np.inf,           # ignore rotation errors
+        'qpos_noise_range':0.015,    # jnt initialization range
+        'target_xyz_range': {'high':[0.4, -.1, 1.1], 'low':[-.5, -.5, .9]},
+        'target_rxryrz_range': {'high':[.3, .3, .3], 'low':[-.3, -.3, -.3]},
+        'obj_xyz_range': {'high':[0.15, -.10, 1.0], 'low':[-0.20, -.40, 1.0]},
+        'obj_geom_range': {'high':[.025, .025, .035], 'low':[.015, 0.015, 0.015]},
+        'obj_mass_range': {'high':0.300, 'low':0.050},# 50gms to 250 gms
+        'obj_friction_range': {'high':[1.2, 0.006, 0.00012], 'low':[0.8, 0.004, 0.00008]}
+    }
+)
+
 
 ## MyoChallenge Locomotion P1
 register(id='myoChallengeChaseTagP1-v0',
         entry_point='myosuite.envs.myo.myochallenge.chasetag_v0:ChaseTagEnvV0',
         max_episode_steps=2000,
         kwargs={
-            'model_path': curr_dir+'/../../../simhive/myo_sim/leg/myolegs_chasetag_v0.11(mj237).mjb',
+            'model_path': curr_dir+'/../assets/leg/myolegs_chasetag.xml',
             'normalize_act': True,
             'win_distance': 0.5,
             'min_spawn_distance': 2,
@@ -57,6 +77,7 @@
             'hills_range': (0.0, 0.0),
             'rough_range': (0.0, 0.0),
             'relief_range': (0.0, 0.0),
+            'opponent_probabilities': (0.1, 0.45, 0.45),
         }
     )
 
@@ -66,7 +87,7 @@
         entry_point='myosuite.envs.myo.myochallenge.chasetag_v0:ChaseTagEnvV0',
         max_episode_steps=2000,
         kwargs={
-            'model_path': curr_dir+'/../../../simhive/myo_sim/leg/myolegs_chasetag_v0.11(mj237).mjb',
+            'model_path': curr_dir+'/../assets/leg/myolegs_chasetag.xml',
             'normalize_act': True,
             'win_distance': 0.5,
             'min_spawn_distance': 2,
@@ -76,9 +97,35 @@
             'hills_range': (0.03, 0.23),
             'rough_range': (0.05, 0.1),
             'relief_range': (0.1, 0.3),
+            'repeller_opponent': False,
+            'chase_vel_range': (1.0, 1.0),
+            'random_vel_range': (-2, 2),
+            'opponent_probabilities': (0.1, 0.45, 0.45),
         }
     )
 
+# Register MyoChallenge Locomotion P2 Evals
+register(id='myoChallengeChaseTagP2eval-v0',
+        entry_point='myosuite.envs.myo.myochallenge.chasetag_v0:ChaseTagEnvV0',
+        max_episode_steps=2000,
+        kwargs={
+            'model_path': curr_dir+'/../assets/leg/myolegs_chasetag.xml',
+            'normalize_act': True,
+            'win_distance': 0.5,
+            'min_spawn_distance': 2,
+            'reset_type': 'random',  # none, init, random
+            'terrain': 'random',  # FLAT, random
+            'task_choice': 'random',  # CHASE, EVADE, random
+            'hills_range': (0.03, 0.23),
+            'rough_range': (0.05, 0.1),
+            'relief_range': (0.1, 0.3),
+            'repeller_opponent': True,
+            'chase_vel_range': (1, 5),
+            'random_vel_range': (-2, 2),
+            'repeller_vel_range': (0.3, 1),
+            'opponent_probabilities': (0.1, 0.35, 0.35, 0.2),
+        }
+    )
 
 # MyoChallenge 2022 envs ==============================================
 # MyoChallenge Die: Trial env