SYNC, UPDATE, FIX: Sync with MyoSuite 2.1.3

- MyoHand_tabletop - ARTX range updated to +-1.25 - Bugfix for hfield turning black - MyoChal/Mani: BugFix and update in env prms - MyoChal/loco: Adding P2 envs - MyoChal/Relocate+ReOrient: Rolling back bug fix in hand_qpos. Will push this update post challenge - myodm env and objects refreshed
vikashplus · Oct 10, 2023 · 3564bb2 · 3564bb2
1 parent ff2d489
commit 3564bb2
Show file tree

Hide file tree

Showing 11 changed files with 511 additions and 78 deletions.
diff --git a/robohive/envs/myo/assets/hand/MyoHand_tabletop.xml b/robohive/envs/myo/assets/hand/MyoHand_tabletop.xml
@@ -37,7 +37,7 @@
         <geom type="plane" rgba=".1 .1 .1 1" size="10 10 1" pos="0 0 -.76"/>
 
         <body pos="0.1 -0.55 0.32" euler="0 0 0">
-            <joint name="ARTx" pos="0 0 0" axis="1 0 0" type="slide" range="-.05 .05" damping="20" limited="true"/>
+            <joint name="ARTx" pos="0 0 0" axis="1 0 0" type="slide" range="-.25 .25" damping="20" limited="true"/>
             <joint name="ARTy" pos="0 0 0" axis="0 1 0" type="slide" range="-.3 .4" damping="20" limited="true"/>
             <joint name="ARTz" pos="0 0 0" axis="0 0 1" type="slide" range="-0.1 .1" damping="20" limited="true"/>
             <joint name="ARRx" pos="0 0 0" axis="1 0 0" range="-1.75 1.75" damping="20" limited="true"/>

diff --git a/robohive/envs/myo/myobase/walk_v0.py b/robohive/envs/myo/myobase/walk_v0.py
@@ -500,7 +500,7 @@ def reset(self):
             normalized_data = (new_terrain_data + 2) / (2 + stair_height * num_stairs)
             self.sim.model.hfield_data[:] = np.flip(normalized_data.reshape(100,100)*scalar, [0,1]).reshape(10000,)
 
-        self.sim.model.geom_rgba[self.sim.model.geom_name2id('terrain')] = np.array([0,0,0,1])
+        self.sim.model.geom_rgba[self.sim.model.geom_name2id('terrain')][-1] = 1.0
         self.sim.model.geom_pos[self.sim.model.geom_name2id('terrain')] = np.array([0,0,0])
         self.sim.model.geom_contype[self.sim.model.geom_name2id('terrain')] = 1
         self.sim.model.geom_conaffinity[self.sim.model.geom_name2id('terrain')] = 1

diff --git a/robohive/envs/myo/myochallenge/__init__.py b/robohive/envs/myo/myochallenge/__init__.py
@@ -6,7 +6,7 @@
 
 
 # MyoChallenge 2023 envs ==============================================
-# MyoChallenge Manipulation
+# MyoChallenge Manipulation P1
 register(id='myoChallengeRelocateP1-v0',
         entry_point='robohive.envs.myo.myochallenge.relocate_v0:RelocateEnvV0',
         max_episode_steps=150,
@@ -21,7 +21,7 @@
         }
     )
 
-# MyoChallenge Manipulation
+# MyoChallenge Manipulation P2
 register(id='myoChallengeRelocateP2-v0',
         entry_point='robohive.envs.myo.myochallenge.relocate_v0:RelocateEnvV0',
         max_episode_steps=150,
@@ -32,26 +32,50 @@
             'pos_th': 0.1,              # cover entire base of the receptacle
             'rot_th': np.inf,           # ignore rotation errors
             'qpos_noise_range':0.01,    # jnt initialization range
-            'target_xyz_range': {'high':[0.3, -.45, 0.9], 'low':[0.0, -.1, 1.05]},
-            'target_rxryrz_range': {'high':[-.2, -.2, -.2], 'low':[0.2, 0.2, 0.2]},
+            'target_xyz_range': {'high':[0.3, -.1, 1.05], 'low':[0.0, -.45, 0.9]},
+            'target_rxryrz_range': {'high':[0.2, 0.2, 0.2], 'low':[-.2, -.2, -.2]},
             'obj_xyz_range': {'high':[0.1, -.15, 1.0], 'low':[-0.1, -.35, 1.0]},
             'obj_geom_range': {'high':[.025, .025, .025], 'low':[.015, 0.015, 0.015]},
-            'obj_mass_range': {'high':0.200, 'low':0.050},# 50gms to 250 gms
+            'obj_mass_range': {'high':0.200, 'low':0.050},# 50gms to 200 gms
             'obj_friction_range': {'high':[1.2, 0.006, 0.00012], 'low':[0.8, 0.004, 0.00008]}
         }
     )
 
 
-# MyoChallenge Locomotion
+## MyoChallenge Locomotion P1
 register(id='myoChallengeChaseTagP1-v0',
         entry_point='robohive.envs.myo.myochallenge.chasetag_v0:ChaseTagEnvV0',
         max_episode_steps=2000,
         kwargs={
-            'model_path': curr_dir+'/../../../simhive/myo_sim/leg/myolegs_chasetag_v0.10(mj237).mjb',
+            'model_path': curr_dir+'/../../../simhive/myo_sim/leg/myolegs_chasetag_v0.11(mj237).mjb',
             'normalize_act': True,
-            'reset_type':'init', # none, init, random
             'win_distance': 0.5,
-            'min_spawn_distance': 2
+            'min_spawn_distance': 2,
+            'reset_type': 'init', # none, init, random
+            'terrain': 'FLAT', # FLAT, random
+            'task_choice': 'CHASE', # CHASE, EVADE, random
+            'hills_range': (0.0, 0.0),
+            'rough_range': (0.0, 0.0),
+            'relief_range': (0.0, 0.0),
+        }
+    )
+
+
+# MyoChallenge Locomotion P2
+register(id='myoChallengeChaseTagP2-v0',
+        entry_point='robohive.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',
+            '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),
         }
     )
 
@@ -129,4 +153,4 @@
             'obj_friction_change': (0.2, 0.001, 0.00002), # nominal: 1.0, 0.005, 0.0001
             'task_choice': 'random'
         }
-    )
+    )