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Merge pull request #86 from MyoHub/myodex_update
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Myodex update trajectories
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@Vittorio-Caggiano
Vittorio-Caggiano authored Sep 15, 2023
2 parents 472946b + 17333b4 commit f19e395
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2 changes: 1 addition & 1 deletion myosuite/envs/myo/assets/hand/MyoHand_tabletop.xml
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<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"/>
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25 changes: 25 additions & 0 deletions myosuite/envs/myo/myodex/Readme.md
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# MyoDM

The MyoDM dataset (inspired by [TCDM benchmarks](https://github.com/facebookresearch/TCDM)) is a dataset of 50 objects manipulated in 90 different tasks. Every task setup consists of a tabletop environment, an object from the ContactDB dataset (Brahmbhatt et al., 2019), and the MyoHand. Each task is initialized at the 'pre-grasp' position/posture.
The MyoHand model was extended to include translations and rotations at the level of the shoulder.


Tasks are in the form `MyoHand{object}{Fixed | Random | *task*}-v0`
where:
- Fixed -- repositioning env with fix target initialization
- Random -- repositioning env with random target initialization
- *task* -- manipulation env based on examplar trajectory

for example 'MyoHandAirplaneFly-v0' is the task for Airplane Fly.

You can see the whole list of tasks from the dictionary `myosuite_myodex_suite` with the command:
``` python
from myosuite import myosuite_myodex_suite
for env in myosuite_myodex_suite:
print(env)
```

Note: the movements generated considering a straight arm while the original motions considered the whole arm kinematics.


Original MoCap used for the pregrasp where obtained from the [Grab dataset](https://github.com/otaheri/GRAB). Please, cite the [original manuscript](https://arxiv.org/abs/2008.11200) and comply with the [license](https://github.com/otaheri/GRAB/blob/master/LICENSE).
82 changes: 61 additions & 21 deletions myosuite/envs/myo/myodex/__init__.py
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# MyoDM tasks
MyoHand_task_spec = (

task_spec(name='MyoHandAirplaneFly-v0', robot='MyoHand', object='airplane', motion='MyoHand_airplane_fly1.npz'),
task_spec(name='MyoHandAirplaneLift-v0', robot='MyoHand', object='airplane', motion='MyoHand_airplane_lift.npz'),
task_spec(name='MyoHandAirplanePass-v0', robot='MyoHand', object='airplane', motion='MyoHand_airplane_pass1.npz'),
task_spec(name='MyoHandAlarmclockLift-v0', robot='MyoHand', object='alarmclock', motion='MyoHand_alarmclock_lift.npz'),
task_spec(name='MyoHandAlarmclockPass-v0', robot='MyoHand', object='alarmclock', motion='MyoHand_alarmclock_pass1.npz'),
task_spec(name='MyoHandAlarmclockSee-v0', robot='MyoHand', object='alarmclock', motion='MyoHand_alarmclock_see1.npz'),
task_spec(name='MyoHandAppleLift-v0', robot='MyoHand', object='apple', motion='MyoHand_apple_lift.npz'),
task_spec(name='MyoHandApplePass-v0', robot='MyoHand', object='apple', motion='MyoHand_apple_pass1.npz'),
task_spec(name='MyoHandBananaPass-v0', robot='MyoHand', object='banana', motion='MyoHand_banana_pass1.npz'),
task_spec(name='MyoHandBinocularsPass-v0', robot='MyoHand', object='binoculars', motion='MyoHand_binoculars_pass1.npz'),
task_spec(name='MyoHandCupDrink-v0', robot='MyoHand', object='cup', motion='MyoHand_cup_drink1.npz'),
task_spec(name='MyoHandCupPass-v0', robot='MyoHand', object='cup', motion='MyoHand_cup_pass1.npz'),
task_spec(name='MyoHandCupPour-v0', robot='MyoHand', object='cup', motion='MyoHand_cup_pour1.npz'),
task_spec(name='MyoHandDuckInspect-v0', robot='MyoHand', object='duck', motion='MyoHand_duck_inspect1.npz'),
task_spec(name='MyoHandDuckLift-v0', robot='MyoHand', object='duck', motion='MyoHand_duck_lift.npz'),
task_spec(name='MyoHandDuckPass-v0', robot='MyoHand', object='duck', motion='MyoHand_duck_pass1.npz'),
task_spec(name='MyoHandElephantLift-v0', robot='MyoHand', object='elephant', motion='MyoHand_elephant_lift.npz'),
task_spec(name='MyoHandElephantPass-v0', robot='MyoHand', object='elephant', motion='MyoHand_elephant_pass1.npz'),
task_spec(name='MyoHandEyeglassesPass-v0', robot='MyoHand', object='eyeglasses', motion='MyoHand_eyeglasses_pass1.npz'),
task_spec(name='MyoHandFlashlightLift-v0', robot='MyoHand', object='flashlight', motion='MyoHand_flashlight_lift.npz'),
task_spec(name='MyoHandFlashlight1On-v0', robot='MyoHand', object='flashlight', motion='MyoHand_flashlight_on1.npz'),
task_spec(name='MyoHandFlashlight2On-v0', robot='MyoHand', object='flashlight', motion='MyoHand_flashlight_on2.npz'),
task_spec(name='MyoHandFlashlightPass-v0', robot='MyoHand', object='flashlight', motion='MyoHand_flashlight_pass1.npz'),
task_spec(name='MyoHandFlutePass-v0', robot='MyoHand', object='flute', motion='MyoHand_flute_pass1.npz'),
task_spec(name='MyoHandFryingpanCook-v0', robot='MyoHand', object='fryingpan', motion='MyoHand_fryingpan_cook2.npz'),
task_spec(name='MyoHandHammerPass-v0', robot='MyoHand', object='hammer', motion='MyoHand_hammer_pass1.npz'),
task_spec(name='MyoHandHammerUse-v0', robot='MyoHand', object='hammer', motion='MyoHand_hammer_use1.npz'),
task_spec(name='MyoHandHandInspect-v0', robot='MyoHand', object='hand', motion='MyoHand_hand_inspect1.npz'),
task_spec(name='MyoHandHandPass-v0', robot='MyoHand', object='hand', motion='MyoHand_hand_pass1.npz'),
task_spec(name='MyoHandHeadphonesPass-v0', robot='MyoHand', object='headphones', motion='MyoHand_headphones_pass1.npz'),
task_spec(name='MyoHandKnifeChop-v0', robot='MyoHand', object='knife', motion='MyoHand_knife_chop1.npz'),
task_spec(name='MyoHandKnifeLift-v0', robot='MyoHand', object='knife', motion='MyoHand_knife_lift.npz'),
task_spec(name='MyoHandLightbulbPass-v0', robot='MyoHand', object='lightbulb', motion='MyoHand_lightbulb_pass1.npz'),
task_spec(name='MyoHandMouseLift-v0', robot='MyoHand', object='mouse', motion='MyoHand_mouse_lift.npz'),
task_spec(name='MyoHandMouseUse-v0', robot='MyoHand', object='mouse', motion='MyoHand_mouse_use1.npz'),
task_spec(name='MyoHandMugDrink3-v0', robot='MyoHand', object='mug', motion='MyoHand_mug_drink3.npz'),
task_spec(name='MyoHandPiggybankUse-v0', robot='MyoHand', object='piggybank', motion='MyoHand_piggybank_use1.npz'),
task_spec(name='MyoHandScissorsUse-v0', robot='MyoHand', object='scissors', motion='MyoHand_scissors_use1.npz'),
task_spec(name='MyoHandSpheremediumLift-v0', robot='MyoHand', object='spheremedium', motion='MyoHand_spheremedium_lift.npz'),
task_spec(name='MyoHandStampStamp-v0', robot='MyoHand', object='stamp', motion='MyoHand_stamp_stamp1.npz'),
task_spec(name='MyoHandStanfordbunnyInspect-v0', robot='MyoHand', object='stanfordbunny', motion='MyoHand_stanfordbunny_inspect1.npz'),
task_spec(name='MyoHandStaplerLift-v0', robot='MyoHand', object='stapler', motion='MyoHand_stapler_lift.npz'),
task_spec(name='MyoHandToothbrushLift-v0', robot='MyoHand', object='toothbrush', motion='MyoHand_toothbrush_lift.npz'),
task_spec(name='MyoHandToothpasteLift-v0', robot='MyoHand', object='toothpaste', motion='MyoHand_toothpaste_lift.npz'),
task_spec(name='MyoHandToruslargeInspect-v0', robot='MyoHand', object='toruslarge', motion='MyoHand_toruslarge_inspect1.npz'),
task_spec(name='MyoHandTrainPlay-v0', robot='MyoHand', object='train', motion='MyoHand_train_play1.npz'),
task_spec(name='MyoHandWatchLift-v0', robot='MyoHand', object='watch', motion='MyoHand_watch_lift.npz'),
task_spec(name='MyoHandWaterbottleLift-v0', robot='MyoHand', object='waterbottle', motion='MyoHand_waterbottle_lift.npz'),
task_spec(name='MyoHandWaterbottleShake-v0', robot='MyoHand', object='waterbottle', motion='MyoHand_waterbottle_shake1.npz'),
task_spec(name='MyoHandWineglassDrink1-v0', robot='MyoHand', object='wineglass', motion='MyoHand_wineglass_drink1.npz'),
task_spec(name='MyoHandWineglassDrink2-v0', robot='MyoHand', object='wineglass', motion='MyoHand_wineglass_drink2.npz'),
task_spec(name='MyoHandWineglassLift-v0', robot='MyoHand', object='wineglass', motion='MyoHand_wineglass_lift.npz'),
task_spec(name='MyoHandStampLift-v0', robot='MyoHand', object='stamp', motion='MyoHand_stamp_lift.npz'),
task_spec(name='MyoHandStaplerStaple1-v0', robot='MyoHand', object='stapler', motion='MyoHand_stapler_staple1.npz'),
task_spec(name='MyoHandStaplerStaple2-v0', robot='MyoHand', object='stapler', motion='MyoHand_stapler_staple2.npz'),
task_spec(name='MyoHandTeapotPour2-v0', robot='MyoHand', object='teapot', motion='MyoHand_teapot_pour2.npz'),
task_spec(name='MyoHandToothbrushBrush1-v0', robot='MyoHand', object='toothbrush', motion='MyoHand_toothbrush_brush1.npz'),
task_spec(name='MyoHandBowlDrink2-v0', robot='MyoHand', object='bowl', motion='MyoHand_bowl_drink2.npz'),
task_spec(name='MyoHandBowlPass-v0', robot='MyoHand', object='bowl', motion='MyoHand_bowl_pass1.npz'),
task_spec(name='MyoHandToothpasteSqueeze1-v0', robot='MyoHand', object='toothpaste', motion='MyoHand_toothpaste_squeeze1.npz'),
task_spec(name='MyoHandToruslargeLift-v0', robot='MyoHand', object='toruslarge', motion='MyoHand_toruslarge_lift.npz'),
task_spec(name='MyoHandTorusmediumLift-v0', robot='MyoHand', object='torusmedium', motion='MyoHand_torusmedium_lift.npz'),
task_spec(name='MyoHandCubesmallPass-v0', robot='MyoHand', object='cubesmall', motion='MyoHand_cubesmall_pass1.npz'),
task_spec(name='MyoHandTorussmallLift-v0', robot='MyoHand', object='torussmall', motion='MyoHand_torussmall_lift.npz'),
task_spec(name='MyoHandMugLift-v0', robot='MyoHand', object='mug', motion='MyoHand_mug_lift.npz'),
task_spec(name='MyoHandTorussmallPass-v0', robot='MyoHand', object='torussmall', motion='MyoHand_torussmall_pass1.npz'),
task_spec(name='MyoHandPhoneLift-v0', robot='MyoHand', object='phone', motion='MyoHand_phone_lift.npz'),
task_spec(name='MyoHandCylindermediumLift-v0', robot='MyoHand', object='cylindermedium', motion='MyoHand_cylindermedium_lift.npz'),
task_spec(name='MyoHandWatchPass-v0', robot='MyoHand', object='watch', motion='MyoHand_watch_pass1.npz'),
task_spec(name='MyoHandCylindersmallInspect-v0', robot='MyoHand', object='cylindersmall', motion='MyoHand_cylindersmall_inspect1.npz'),
task_spec(name='MyoHandCylindersmallPass-v0', robot='MyoHand', object='cylindersmall', motion='MyoHand_cylindersmall_pass1.npz'),
task_spec(name='MyoHandPyramidsmallInspect-v0', robot='MyoHand', object='pyramidsmall', motion='MyoHand_pyramidsmall_inspect1.npz'),
task_spec(name='MyoHandWineglassToast1-v0', robot='MyoHand', object='wineglass', motion='MyoHand_wineglass_toast1.npz'),
task_spec(name='MyoHandSpheresmallInspect-v0', robot='MyoHand', object='spheresmall', motion='MyoHand_spheresmall_inspect1.npz'),
task_spec(name='MyoHandSpheresmallLift-v0', robot='MyoHand', object='spheresmall', motion='MyoHand_spheresmall_lift.npz'),
task_spec(name='MyoHandSpheresmallPass-v0', robot='MyoHand', object='spheresmall', motion='MyoHand_spheresmall_pass1.npz'),

task_spec(name='MyoHandAlarmclockPass-v0', robot='MyoHand', object='alarmclock', motion='MyoHand_alarmclock_pass1.npz'),
task_spec(name='MyoHandBinocularsPass-v0', robot='MyoHand', object='binoculars', motion='MyoHand_binoculars_pass1.npz'),
task_spec(name='MyoHandDuckPass-v0', robot='MyoHand', object='duck', motion='MyoHand_duck_pass1.npz'),
task_spec(name='MyoHandEyeglassesPass-v0', robot='MyoHand', object='eyeglasses', motion='MyoHand_eyeglasses_pass1.npz'),
task_spec(name='MyoHandFlashlightPass-v0', robot='MyoHand', object='flashlight', motion='MyoHand_flashlight_pass1.npz'),
task_spec(name='MyoHandFlutePass-v0', robot='MyoHand', object='flute', motion='MyoHand_flute_pass1.npz'),
task_spec(name='MyoHandHammerPass-v0', robot='MyoHand', object='hammer', motion='MyoHand_hammer_pass1.npz'),
task_spec(name='MyoHandHandInspect-v0', robot='MyoHand', object='hand', motion='MyoHand_hand_inspect1.npz'),
task_spec(name='MyoHandHeadphonesPass-v0', robot='MyoHand', object='headphones', motion='MyoHand_headphones_pass1.npz'),
task_spec(name='MyoHandKnifeChop-v0', robot='MyoHand', object='knife', motion='MyoHand_knife_chop1.npz'),
task_spec(name='MyoHandLightbulbPass-v0', robot='MyoHand', object='lightbulb', motion='MyoHand_lightbulb_pass1.npz'),
task_spec(name='MyoHandMouseUse-v0', robot='MyoHand', object='mouse', motion='MyoHand_mouse_use1.npz'),
task_spec(name='MyoHandPiggybankUse-v0', robot='MyoHand', object='piggybank', motion='MyoHand_piggybank_use1.npz'),
task_spec(name='MyoHandToothbrushLift-v0', robot='MyoHand', object='toothbrush', motion='MyoHand_toothbrush_lift.npz'),
task_spec(name='MyoHandWaterbottleLift-v0', robot='MyoHand', object='waterbottle', motion='MyoHand_waterbottle_lift.npz'),
task_spec(name='MyoHandWineglassPass-v0', robot='MyoHand', object='wineglass', motion='MyoHand_wineglass_pass1.npz'),
task_spec(name='MyoHandStanfordbunnyPass-v0', robot='MyoHand', object='stanfordbunny', motion='MyoHand_stanfordbunny_pass1.npz'),
task_spec(name='MyoHandCameraPass-v0', robot='MyoHand', object='camera', motion='MyoHand_camera_pass1.npz'),
task_spec(name='MyoHandCubelargePass-v0', robot='MyoHand', object='cubelarge', motion='MyoHand_cubelarge_pass1.npz'),
task_spec(name='MyoHandCubemediumLInspect-v0', robot='MyoHand', object='cubemedium', motion='MyoHand_cubemedium_inspect1.npz'),
task_spec(name='MyoHandMousePass-v0', robot='MyoHand', object='mouse', motion='MyoHand_mouse_pass1.npz'),
task_spec(name='MyoHandCubesmallLift-v0', robot='MyoHand', object='cubesmall', motion='MyoHand_cubesmall_lift.npz'),
task_spec(name='MyoHandTorusmediumPass-v0', robot='MyoHand', object='torusmedium', motion='MyoHand_torusmedium_pass1.npz'),
task_spec(name='MyoHandMugPass-v0', robot='MyoHand', object='mug', motion='MyoHand_mug_pass1.npz'),
task_spec(name='MyoHandPiggybankPass-v0', robot='MyoHand', object='wineglass', motion='MyoHand_piggybank_pass1.npz'),
task_spec(name='MyoHandCylindermediumPass-v0', robot='MyoHand', object='cylindermedium', motion='MyoHand_cylindermedium_pass1.npz'),
task_spec(name='MyoHandPyramidlargePass-v0', robot='MyoHand', object='pyramidlarge', motion='MyoHand_pyramidlarge_pass1.npz'),
task_spec(name='MyoHandWaterbottlePass-v0', robot='MyoHand', object='waterbottle', motion='MyoHand_waterbottle_pass1.npz'),
task_spec(name='MyoHandPyramidmediumPass-v0', robot='MyoHand', object='pyramidmedium', motion='MyoHand_pyramidmedium_pass1.npz'),
task_spec(name='MyoHandSpherelargePass-v0', robot='MyoHand', object='spherelarge', motion='MyoHand_spherelarge_pass1.npz'),
task_spec(name='MyoHandSpheremediumInspect-v0', robot='MyoHand', object='spheremedium', motion='MyoHand_spheremedium_inspect1.npz'),
task_spec(name='MyoHandCylinderlargeInspect-v0', robot='MyoHand', object='cylinderlarge', motion='MyoHand_cylinderlarge_inspect1.npz'),
task_spec(name='MyoHandGamecontrollerPass-v0', robot='MyoHand', object='gamecontroller', motion='MyoHand_gamecontroller_pass1.npz'),

)

# Register MyoHand envs using reference motion
Expand All @@ -89,7 +129,7 @@ def register_myohand_object_trackref(task_name, object_name, motion_path=None):
register_myohand_object_trackref(task_name, object_name, motion_path)


OBJECTS = ('airplane','alarmclock','apple','banana','binoculars','bowl','camera','coffeemug','cubelarge','cubemedium','cubemiddle','cubesmall','cup','cylinderlarge','cylindermedium','cylindersmall','doorknob','duck','elephant','eyeglasses','flashlight','flute','fryingpan','gamecontroller','hammer','hand','headphones','human','knife','lightbulb','mouse','mug','phone','piggybank', 'pyramidlarge','pyramidmedium','pyramidsmall','rubberduck','scissors','spherelarge','spheremedium','spheresmall','stamp','stanfordbunny','stapler','table','teapot','toothbrush','toothpaste','toruslarge','torusmedium','torussmall','train','watch','waterbottle','wineglass','wristwatch')
OBJECTS = ('airplane','alarmclock','apple','banana','binoculars','bowl','camera','coffeemug','cubelarge','cubemedium','cubesmall','cup','cylinderlarge','cylindermedium','cylindersmall','duck','elephant','eyeglasses','flashlight','flute','gamecontroller','hammer','hand','headphones','knife','lightbulb','mouse','mug','phone','piggybank', 'pyramidlarge','pyramidmedium','pyramidsmall','scissors','spherelarge','spheremedium','spheresmall','stamp','stanfordbunny','stapler','teapot','toothbrush','toothpaste','toruslarge','torusmedium','torussmall','train','watch','waterbottle','wineglass')

# Register object envs
def register_MyoHand_object(object_name):
Expand Down Expand Up @@ -134,4 +174,4 @@ def register_MyoHand_object(object_name):
}
)
for obj in OBJECTS:
register_MyoHand_object(obj)
register_MyoHand_object(obj)
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class TrackEnv(BaseV0):

DEFAULT_CREDIT = """\
Learning Dexterous Manipulation from Exemplar Object Trajectories and Pre-Grasps
Sudeep Dasari, Abhinav Gupta, Vikash Kumar
ICRA-2023 | https://pregrasps.github.io
MyoDex: A Generalizable Prior for Dexterous Manipulation
Vittorio Caggiano, Sudeep Dasari, Vikash Kumar
ICML-2023, https://arxiv.org/abs/2309.03130
"""

DEFAULT_OBS_KEYS = [
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