Merge pull request #96 from P-Schumacher/dev_myosuite

Dev myosuite
MyoHub · Oct 5, 2023 · 8465c42 · 8465c42
2 parents 457ab68 + b54d038
commit 8465c42
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Showing 7 changed files with 395 additions and 41 deletions.
diff --git a/myosuite/envs/myo/assets/myo_relief.npy b/myosuite/envs/myo/assets/myo_relief.npy
diff --git a/myosuite/envs/myo/myobase/__init__.py b/myosuite/envs/myo/myobase/__init__.py
@@ -377,7 +377,7 @@ def register_env_with_variants(id, entry_point, max_episode_steps, kwargs):
             'target_y_vel':1.2,  # desired y velocity in m/s
             'target_rot': None,   # if None then the initial root pos will be taken, otherwise provide quat
             'terrain':'stairs',
-            'variant':'fixed'
+            'variant':'fixed',
         }
     )
 

diff --git a/myosuite/envs/myo/myochallenge/__init__.py b/myosuite/envs/myo/myochallenge/__init__.py
@@ -6,7 +6,7 @@
 
 
 # MyoChallenge 2023 envs ==============================================
-# MyoChallenge Manipulation
+# MyoChallenge Manipulation P1
 register(id='myoChallengeRelocateP1-v0',
         entry_point='myosuite.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='myosuite.envs.myo.myochallenge.relocate_v0:RelocateEnvV0',
         max_episode_steps=150,
@@ -42,16 +42,40 @@
     )
 
 
-# MyoChallenge Locomotion
+## 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_v0.10(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',
+            'task_choice': 'chase',
+            '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='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',
+            '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'
         }
-    )
+    )