From 19ce87d12205683a16e3b43304179eb83b159aa1 Mon Sep 17 00:00:00 2001 From: JamesHeald Date: Wed, 27 Nov 2024 11:22:48 +0000 Subject: [PATCH] Update __init__.py Add fixed and random arm reach environments. --- myosuite/envs/myo/myobase/__init__.py | 19 ++++++++++++++++--- 1 file changed, 16 insertions(+), 3 deletions(-) diff --git a/myosuite/envs/myo/myobase/__init__.py b/myosuite/envs/myo/myobase/__init__.py index 58595c56..ee8eca38 100644 --- 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. } - ) \ No newline at end of file + )