Update __init__.py

Add fixed and random arm reach environments.
MyoHub · Nov 27, 2024 · 19ce87d · 19ce87d
1 parent 529d812
commit 19ce87d
Showing 1 changed file with 16 additions and 3 deletions.
diff --git a/myosuite/envs/myo/myobase/__init__.py b/myosuite/envs/myo/myobase/__init__.py
@@ -520,15 +520,28 @@ def register_env_with_variants(id, entry_point, max_episode_steps, kwargs):
     )
 
 # 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': {
-                'S_grasp': ((-0.2-0.2, -0.2-0.15, 1.2-0.2), (-0.2+0.2, -0.2+0.15, 1.2+0.2)),
+                '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': 0.025
+            'far_th': 1.
             }
-    )
+    )