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Basic arm reaching environment created, myoArmReachRandom-v0 #232

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Basic arm reaching environment created, myoArmReachRandom-v0 #232

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82ffe29
Basic arm reaching environment created, myoArmReachRandom-v0
jamesheald Sep 18, 2024
6cb0dac
Merge pull request #259 from MyoHub/dev
Vittorio-Caggiano Oct 28, 2024
2be0106
Merge pull request #261 from MyoHub/dev
Vittorio-Caggiano Oct 28, 2024
7927eb0
Merge pull request #265 from MyoHub/dev
Vittorio-Caggiano Oct 31, 2024
da8068b
Merge branch 'MyoHub:main' into myoArmReachRandom-v0
jamesheald Nov 27, 2024
de2718c
Update myoarm_reach.xml
jamesheald Nov 27, 2024
529d812
Update myoarm_reach.xml
jamesheald Nov 27, 2024
19ce87d
Update __init__.py
jamesheald Nov 27, 2024
27d8246
Update myoarm_reach.xml
jamesheald Nov 27, 2024
13ba926
Update myoarm_reach.xml
jamesheald Nov 30, 2024
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34 changes: 34 additions & 0 deletions myosuite/envs/myo/assets/arm/myoarm_reach.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,34 @@
<mujoco model="MyoArm_NoHand_v0.01">
<!-- =================================================
Copyright 2020 Vikash Kumar, Vittorio Caggiano, Guillaume Durandau
Model :: Myo Arm No 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_nohand_assets.xml"/>
<include file="../../../../simhive/myo_sim/scene/myosuite_scene.xml"/>
<compiler meshdir='../../../../simhive/myo_sim/' texturedir='../../../../simhive/myo_sim/'/>

<asset>
<mesh file="../myo_sim/meshes/human_lowpoly_norighthand.stl" name="body_norighthand"/>
</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>

<site name="forearm_tip_target" pos="0 0.002 0" rgba="0 1 0 .3" size="0.02"/>

</worldbody>

<keyframe>
<key qpos='-0.0707426 0.0299604 -0.0299638 0.0707454 -0.0143074 0.115747 0.0520177 -0.0520191 -0.115749 0.0143169 1.2671 0 -1.267 -0.013375 0 0.45559 0.173656 -0.141372 -0.500336 -0.780052 -0.383593 -0.0390846 0.0475231 -0.261981 0.0147788 0.00868063 0.00578373 -0.261937 0.00697434 0.00890255 -8.61942e-05 -0.261899 -2.25553e-05 0.00771655 -7.32368e-05 -0.133003 -1.74538e-05 0'/>
</keyframe>

</mujoco>
29 changes: 28 additions & 1 deletion myosuite/envs/myo/myobase/__init__.py
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Expand Up @@ -517,4 +517,31 @@ def register_env_with_variants(id, entry_point, max_episode_steps, kwargs):
'normalize_act': True,
'frame_skip': 5,
}
)
)

# Arm Reaching ==============================
register_env_with_variants(id='myoArmReachFixed-v0',
entry_point='myosuite.envs.myo.myobase.reach_v0:ReachEnvV0',
max_episode_steps=150,
kwargs={
'model_path': curr_dir+'/../assets/arm/myoarm_reach.xml',
'target_reach_range': {
'forearm_tip': ((-0.2, -0.2, 1.2), (-0.2, -0.2, 1.2)),
},
'normalize_act': True,
'far_th': 1.
}
)

register_env_with_variants(id='myoArmReachRandom-v0',
entry_point='myosuite.envs.myo.myobase.reach_v0:ReachEnvV0',
max_episode_steps=150,
kwargs={
'model_path': curr_dir+'/../assets/arm/myoarm_reach.xml',
'target_reach_range': {
'forearm_tip': ((-0.2-0.15, -0.2-0.15, 1.2-0.15), (-0.2+0.15, -0.2+0.15, 1.2+0.15)),
},
'normalize_act': True,
'far_th': 1.
}
)
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