diff --git a/myosuite/envs/myo/assets/hand/MyoHand_tabletop.xml b/myosuite/envs/myo/assets/hand/MyoHand_tabletop.xml index 396552c2..cffd27d3 100644 --- a/myosuite/envs/myo/assets/hand/MyoHand_tabletop.xml +++ b/myosuite/envs/myo/assets/hand/MyoHand_tabletop.xml @@ -37,7 +37,7 @@ - + diff --git a/myosuite/envs/myo/myodex/Readme.md b/myosuite/envs/myo/myodex/Readme.md new file mode 100644 index 00000000..288c3a5e --- /dev/null +++ b/myosuite/envs/myo/myodex/Readme.md @@ -0,0 +1,25 @@ +# 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). diff --git a/myosuite/envs/myo/myodex/__init__.py b/myosuite/envs/myo/myodex/__init__.py index 3e39d6a8..b99dd9dc 100644 --- a/myosuite/envs/myo/myodex/__init__.py +++ b/myosuite/envs/myo/myodex/__init__.py @@ -16,59 +16,99 @@ # 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 @@ -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): @@ -134,4 +174,4 @@ def register_MyoHand_object(object_name): } ) for obj in OBJECTS: - register_MyoHand_object(obj) \ No newline at end of file + register_MyoHand_object(obj) diff --git a/myosuite/envs/myo/myodex/data/MyoHand_airplane_fly1.npz b/myosuite/envs/myo/myodex/data/MyoHand_airplane_fly1.npz index b9cf96d3..c1a4db04 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_airplane_fly1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_airplane_fly1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_airplane_fly1_new.npz b/myosuite/envs/myo/myodex/data/MyoHand_airplane_fly1_new.npz deleted file mode 100644 index 60f34408..00000000 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_airplane_fly1_new.npz and /dev/null differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_airplane_lift.npz b/myosuite/envs/myo/myodex/data/MyoHand_airplane_lift.npz index 1a2dd13a..8cd8ae03 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_airplane_lift.npz and b/myosuite/envs/myo/myodex/data/MyoHand_airplane_lift.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_airplane_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_airplane_pass1.npz index 7e5c083a..088a2122 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_airplane_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_airplane_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_airplane_pass1_new.npz b/myosuite/envs/myo/myodex/data/MyoHand_airplane_pass1_new.npz deleted file mode 100644 index 7e5c083a..00000000 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_airplane_pass1_new.npz and /dev/null differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_alarmclock_lift.npz b/myosuite/envs/myo/myodex/data/MyoHand_alarmclock_lift.npz index 07b6a815..a23a3158 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_alarmclock_lift.npz and b/myosuite/envs/myo/myodex/data/MyoHand_alarmclock_lift.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_alarmclock_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_alarmclock_pass1.npz index 67c260fc..b416c2a7 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_alarmclock_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_alarmclock_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_alarmclock_see1.npz b/myosuite/envs/myo/myodex/data/MyoHand_alarmclock_see1.npz index fc1faa4b..213111e8 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_alarmclock_see1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_alarmclock_see1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_apple_lift.npz b/myosuite/envs/myo/myodex/data/MyoHand_apple_lift.npz index 483d543c..821b2f48 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_apple_lift.npz and b/myosuite/envs/myo/myodex/data/MyoHand_apple_lift.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_apple_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_apple_pass1.npz index d70c7058..df1701c8 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_apple_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_apple_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_banana_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_banana_pass1.npz index 2f95f4af..f2e95a1e 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_banana_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_banana_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_binoculars_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_binoculars_pass1.npz index 265b89ae..a328149d 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_binoculars_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_binoculars_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_bowl_drink2.npz b/myosuite/envs/myo/myodex/data/MyoHand_bowl_drink2.npz index 8b7307e6..85a044eb 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_bowl_drink2.npz and b/myosuite/envs/myo/myodex/data/MyoHand_bowl_drink2.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_bowl_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_bowl_pass1.npz index 5a6ffb1d..881a46e5 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_bowl_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_bowl_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_camera_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_camera_pass1.npz index b93f074b..3bff0957 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_camera_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_camera_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_cubelarge_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_cubelarge_pass1.npz index afc73dd7..1f597af4 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_cubelarge_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_cubelarge_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_cubemedium_inspect1.npz b/myosuite/envs/myo/myodex/data/MyoHand_cubemedium_inspect1.npz index e0903560..0de761a0 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_cubemedium_inspect1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_cubemedium_inspect1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_cubesmall_lift.npz b/myosuite/envs/myo/myodex/data/MyoHand_cubesmall_lift.npz index 99bf5003..e2b462f6 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_cubesmall_lift.npz and b/myosuite/envs/myo/myodex/data/MyoHand_cubesmall_lift.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_cubesmall_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_cubesmall_pass1.npz index a58f25a6..2c51bc2e 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_cubesmall_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_cubesmall_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_cup_drink1.npz b/myosuite/envs/myo/myodex/data/MyoHand_cup_drink1.npz index ed518bea..75defc38 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_cup_drink1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_cup_drink1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_cup_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_cup_pass1.npz index 687d4007..26b71f10 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_cup_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_cup_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_cup_pour1.npz b/myosuite/envs/myo/myodex/data/MyoHand_cup_pour1.npz index 107ddade..05d6bc9e 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_cup_pour1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_cup_pour1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_cylinderlarge_inspect1.npz b/myosuite/envs/myo/myodex/data/MyoHand_cylinderlarge_inspect1.npz new file mode 100644 index 00000000..b15ce488 Binary files /dev/null and b/myosuite/envs/myo/myodex/data/MyoHand_cylinderlarge_inspect1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_cylindermedium_lift.npz b/myosuite/envs/myo/myodex/data/MyoHand_cylindermedium_lift.npz index f05b167a..b6e51476 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_cylindermedium_lift.npz and b/myosuite/envs/myo/myodex/data/MyoHand_cylindermedium_lift.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_cylindermedium_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_cylindermedium_pass1.npz index 7207589a..4b86eb83 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_cylindermedium_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_cylindermedium_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_cylindersmall_inspect1.npz b/myosuite/envs/myo/myodex/data/MyoHand_cylindersmall_inspect1.npz index 2675bb50..791e4524 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_cylindersmall_inspect1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_cylindersmall_inspect1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_cylindersmall_lift.npz b/myosuite/envs/myo/myodex/data/MyoHand_cylindersmall_lift.npz deleted file mode 100644 index 1879c491..00000000 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_cylindersmall_lift.npz and /dev/null differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_cylindersmall_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_cylindersmall_pass1.npz index 17de1975..22fcdb73 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_cylindersmall_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_cylindersmall_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_duck_inspect1.npz b/myosuite/envs/myo/myodex/data/MyoHand_duck_inspect1.npz index 64aeb7d3..f2469d89 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_duck_inspect1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_duck_inspect1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_duck_lift.npz b/myosuite/envs/myo/myodex/data/MyoHand_duck_lift.npz index 3e790c0b..111e8bda 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_duck_lift.npz and b/myosuite/envs/myo/myodex/data/MyoHand_duck_lift.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_duck_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_duck_pass1.npz index 98784559..59d8ef61 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_duck_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_duck_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_elephant_lift.npz b/myosuite/envs/myo/myodex/data/MyoHand_elephant_lift.npz index b6321e36..45f6631f 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_elephant_lift.npz and b/myosuite/envs/myo/myodex/data/MyoHand_elephant_lift.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_elephant_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_elephant_pass1.npz index 63419059..cd10b594 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_elephant_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_elephant_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_eyeglasses_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_eyeglasses_pass1.npz index 9b3dd98e..f0002db4 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_eyeglasses_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_eyeglasses_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_flashlight_lift.npz b/myosuite/envs/myo/myodex/data/MyoHand_flashlight_lift.npz index e562d19c..8edf18ca 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_flashlight_lift.npz and b/myosuite/envs/myo/myodex/data/MyoHand_flashlight_lift.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_flashlight_on1.npz b/myosuite/envs/myo/myodex/data/MyoHand_flashlight_on1.npz index 06da4b9c..21a98d58 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_flashlight_on1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_flashlight_on1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_flashlight_on2.npz b/myosuite/envs/myo/myodex/data/MyoHand_flashlight_on2.npz index b87045e6..3d2dd8d0 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_flashlight_on2.npz and b/myosuite/envs/myo/myodex/data/MyoHand_flashlight_on2.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_flashlight_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_flashlight_pass1.npz index b23bcdf3..1653f064 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_flashlight_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_flashlight_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_flute_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_flute_pass1.npz index e09b9f87..d03821df 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_flute_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_flute_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_fryingpan_cook2.npz b/myosuite/envs/myo/myodex/data/MyoHand_fryingpan_cook2.npz deleted file mode 100644 index d8209fa8..00000000 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_fryingpan_cook2.npz and /dev/null differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_gamecontroller_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_gamecontroller_pass1.npz new file mode 100644 index 00000000..5c652ea7 Binary files /dev/null and b/myosuite/envs/myo/myodex/data/MyoHand_gamecontroller_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_hammer_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_hammer_pass1.npz index 84bcbfc1..fd06832d 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_hammer_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_hammer_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_hammer_use1.npz b/myosuite/envs/myo/myodex/data/MyoHand_hammer_use1.npz index 42750905..cc98aac4 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_hammer_use1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_hammer_use1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_hand_inspect1.npz b/myosuite/envs/myo/myodex/data/MyoHand_hand_inspect1.npz index f4e5a21e..07a71ab7 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_hand_inspect1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_hand_inspect1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_hand_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_hand_pass1.npz deleted file mode 100644 index 8a3cbc22..00000000 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_hand_pass1.npz and /dev/null differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_headphones_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_headphones_pass1.npz index 2291e045..80bd5d5a 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_headphones_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_headphones_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_knife_chop1.npz b/myosuite/envs/myo/myodex/data/MyoHand_knife_chop1.npz index f99e9c1e..212b5374 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_knife_chop1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_knife_chop1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_knife_lift.npz b/myosuite/envs/myo/myodex/data/MyoHand_knife_lift.npz deleted file mode 100644 index cb949293..00000000 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_knife_lift.npz and /dev/null differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_lightbulb_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_lightbulb_pass1.npz index 40638b73..2a9955c2 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_lightbulb_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_lightbulb_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_mouse_lift.npz b/myosuite/envs/myo/myodex/data/MyoHand_mouse_lift.npz index d7972473..cf1303da 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_mouse_lift.npz and b/myosuite/envs/myo/myodex/data/MyoHand_mouse_lift.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_mouse_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_mouse_pass1.npz index 4c2d26f3..c235ec2f 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_mouse_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_mouse_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_mouse_use1.npz b/myosuite/envs/myo/myodex/data/MyoHand_mouse_use1.npz index 6e74e585..8f912a63 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_mouse_use1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_mouse_use1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_mug_drink3.npz b/myosuite/envs/myo/myodex/data/MyoHand_mug_drink3.npz index 8916906e..6c231556 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_mug_drink3.npz and b/myosuite/envs/myo/myodex/data/MyoHand_mug_drink3.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_mug_lift.npz b/myosuite/envs/myo/myodex/data/MyoHand_mug_lift.npz index 874fc9ad..469c8345 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_mug_lift.npz and b/myosuite/envs/myo/myodex/data/MyoHand_mug_lift.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_mug_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_mug_pass1.npz index 34bd8302..1b367539 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_mug_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_mug_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_phone_lift.npz b/myosuite/envs/myo/myodex/data/MyoHand_phone_lift.npz index 63593d69..7d0acb4b 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_phone_lift.npz and b/myosuite/envs/myo/myodex/data/MyoHand_phone_lift.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_piggybank_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_piggybank_pass1.npz index 51189edf..1b00e377 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_piggybank_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_piggybank_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_piggybank_use1.npz b/myosuite/envs/myo/myodex/data/MyoHand_piggybank_use1.npz index 91604c42..242afa98 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_piggybank_use1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_piggybank_use1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_pyramidlarge_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_pyramidlarge_pass1.npz index 428ee75e..bc5c3f5c 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_pyramidlarge_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_pyramidlarge_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_pyramidmedium_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_pyramidmedium_pass1.npz index 84ade0cf..908b89a4 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_pyramidmedium_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_pyramidmedium_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_pyramidsmall_inspect1.npz b/myosuite/envs/myo/myodex/data/MyoHand_pyramidsmall_inspect1.npz index 698b7615..653f7606 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_pyramidsmall_inspect1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_pyramidsmall_inspect1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_scissors_use1.npz b/myosuite/envs/myo/myodex/data/MyoHand_scissors_use1.npz index 35a73349..c6d2c47d 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_scissors_use1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_scissors_use1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_spherelarge_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_spherelarge_pass1.npz index 97dd0f4f..31c2f33c 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_spherelarge_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_spherelarge_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_spheremedium_inspect1.npz b/myosuite/envs/myo/myodex/data/MyoHand_spheremedium_inspect1.npz index 1eb2f8b8..8e22396c 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_spheremedium_inspect1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_spheremedium_inspect1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_spheremedium_lift.npz b/myosuite/envs/myo/myodex/data/MyoHand_spheremedium_lift.npz index 25aa77af..08b2879a 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_spheremedium_lift.npz and b/myosuite/envs/myo/myodex/data/MyoHand_spheremedium_lift.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_spheresmall_inspect1.npz b/myosuite/envs/myo/myodex/data/MyoHand_spheresmall_inspect1.npz index bef7d392..319e7bb6 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_spheresmall_inspect1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_spheresmall_inspect1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_spheresmall_lift.npz b/myosuite/envs/myo/myodex/data/MyoHand_spheresmall_lift.npz index 5b35d177..7b190404 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_spheresmall_lift.npz and b/myosuite/envs/myo/myodex/data/MyoHand_spheresmall_lift.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_spheresmall_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_spheresmall_pass1.npz index f4cff72a..41f89a5f 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_spheresmall_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_spheresmall_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_stamp_lift.npz b/myosuite/envs/myo/myodex/data/MyoHand_stamp_lift.npz index 7563ac2a..4fb56816 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_stamp_lift.npz and b/myosuite/envs/myo/myodex/data/MyoHand_stamp_lift.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_stamp_stamp1.npz b/myosuite/envs/myo/myodex/data/MyoHand_stamp_stamp1.npz index 1fb3bf64..778a2a28 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_stamp_stamp1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_stamp_stamp1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_stanfordbunny_inspect1.npz b/myosuite/envs/myo/myodex/data/MyoHand_stanfordbunny_inspect1.npz index d541554a..8592c3a8 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_stanfordbunny_inspect1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_stanfordbunny_inspect1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_stanfordbunny_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_stanfordbunny_pass1.npz index 48867f57..655409ef 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_stanfordbunny_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_stanfordbunny_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_stapler_lift.npz b/myosuite/envs/myo/myodex/data/MyoHand_stapler_lift.npz index 34ce9bd8..0680d422 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_stapler_lift.npz and b/myosuite/envs/myo/myodex/data/MyoHand_stapler_lift.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_stapler_staple1.npz b/myosuite/envs/myo/myodex/data/MyoHand_stapler_staple1.npz index 0c12a796..c3a22238 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_stapler_staple1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_stapler_staple1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_stapler_staple2.npz b/myosuite/envs/myo/myodex/data/MyoHand_stapler_staple2.npz index f20c015e..48bd245e 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_stapler_staple2.npz and b/myosuite/envs/myo/myodex/data/MyoHand_stapler_staple2.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_teapot_pour2.npz b/myosuite/envs/myo/myodex/data/MyoHand_teapot_pour2.npz index 53cd76da..5816ff84 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_teapot_pour2.npz and b/myosuite/envs/myo/myodex/data/MyoHand_teapot_pour2.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_toothbrush_brush1.npz b/myosuite/envs/myo/myodex/data/MyoHand_toothbrush_brush1.npz index 258afee8..94962537 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_toothbrush_brush1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_toothbrush_brush1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_toothbrush_lift.npz b/myosuite/envs/myo/myodex/data/MyoHand_toothbrush_lift.npz index 86053aa1..88891a0d 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_toothbrush_lift.npz and b/myosuite/envs/myo/myodex/data/MyoHand_toothbrush_lift.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_toothpaste_lift.npz b/myosuite/envs/myo/myodex/data/MyoHand_toothpaste_lift.npz index 5dd17bd2..edf746ac 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_toothpaste_lift.npz and b/myosuite/envs/myo/myodex/data/MyoHand_toothpaste_lift.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_toothpaste_squeeze1.npz b/myosuite/envs/myo/myodex/data/MyoHand_toothpaste_squeeze1.npz index 01d111e6..e2be4e1e 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_toothpaste_squeeze1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_toothpaste_squeeze1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_toruslarge_inspect1.npz b/myosuite/envs/myo/myodex/data/MyoHand_toruslarge_inspect1.npz index f7635477..984599f1 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_toruslarge_inspect1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_toruslarge_inspect1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_toruslarge_lift.npz b/myosuite/envs/myo/myodex/data/MyoHand_toruslarge_lift.npz index b5e11d11..5f83ca7b 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_toruslarge_lift.npz and b/myosuite/envs/myo/myodex/data/MyoHand_toruslarge_lift.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_torusmedium_lift.npz b/myosuite/envs/myo/myodex/data/MyoHand_torusmedium_lift.npz index 679dd7c8..06d700f9 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_torusmedium_lift.npz and b/myosuite/envs/myo/myodex/data/MyoHand_torusmedium_lift.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_torusmedium_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_torusmedium_pass1.npz index 89e2416c..01bdc1f2 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_torusmedium_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_torusmedium_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_torussmall_lift.npz b/myosuite/envs/myo/myodex/data/MyoHand_torussmall_lift.npz index 34f85300..691565b2 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_torussmall_lift.npz and b/myosuite/envs/myo/myodex/data/MyoHand_torussmall_lift.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_torussmall_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_torussmall_pass1.npz index 61092493..649264a5 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_torussmall_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_torussmall_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_train_play1.npz b/myosuite/envs/myo/myodex/data/MyoHand_train_play1.npz index 0dd50511..62b2cb68 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_train_play1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_train_play1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_watch_lift.npz b/myosuite/envs/myo/myodex/data/MyoHand_watch_lift.npz index 4fd2510f..fcb59c5f 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_watch_lift.npz and b/myosuite/envs/myo/myodex/data/MyoHand_watch_lift.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_watch_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_watch_pass1.npz index 8de85f66..d5d1831d 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_watch_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_watch_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_waterbottle_lift.npz b/myosuite/envs/myo/myodex/data/MyoHand_waterbottle_lift.npz index 4f291062..97edc947 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_waterbottle_lift.npz and b/myosuite/envs/myo/myodex/data/MyoHand_waterbottle_lift.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_waterbottle_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_waterbottle_pass1.npz index 974fa850..50190e50 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_waterbottle_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_waterbottle_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_waterbottle_shake1.npz b/myosuite/envs/myo/myodex/data/MyoHand_waterbottle_shake1.npz index 04639ebd..d9ab6cbf 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_waterbottle_shake1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_waterbottle_shake1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_wineglass_drink1.npz b/myosuite/envs/myo/myodex/data/MyoHand_wineglass_drink1.npz deleted file mode 100644 index 4ac45d68..00000000 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_wineglass_drink1.npz and /dev/null differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_wineglass_drink2.npz b/myosuite/envs/myo/myodex/data/MyoHand_wineglass_drink2.npz index a6ef1d86..c6c45e6e 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_wineglass_drink2.npz and b/myosuite/envs/myo/myodex/data/MyoHand_wineglass_drink2.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_wineglass_lift.npz b/myosuite/envs/myo/myodex/data/MyoHand_wineglass_lift.npz index 436ab2e5..ecec4368 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_wineglass_lift.npz and b/myosuite/envs/myo/myodex/data/MyoHand_wineglass_lift.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_wineglass_pass1.npz b/myosuite/envs/myo/myodex/data/MyoHand_wineglass_pass1.npz index 674c5a03..cbd541f1 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_wineglass_pass1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_wineglass_pass1.npz differ diff --git a/myosuite/envs/myo/myodex/data/MyoHand_wineglass_toast1.npz b/myosuite/envs/myo/myodex/data/MyoHand_wineglass_toast1.npz index ac250ead..4476ce1f 100644 Binary files a/myosuite/envs/myo/myodex/data/MyoHand_wineglass_toast1.npz and b/myosuite/envs/myo/myodex/data/MyoHand_wineglass_toast1.npz differ diff --git a/myosuite/envs/myo/myodex/myodex_v0.py b/myosuite/envs/myo/myodex/myodex_v0.py index 6eae1a07..e7bdd5f3 100644 --- a/myosuite/envs/myo/myodex/myodex_v0.py +++ b/myosuite/envs/myo/myodex/myodex_v0.py @@ -21,9 +21,9 @@ 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 = [