Basic arm reaching environment created, myoArmReachRandom-v0

.gitmodules

@@ -1,6 +1,7 @@
 [submodule "myosuite/simhive/myo_sim"]
 	path = myosuite/simhive/myo_sim
-	url = https://github.com/MyoHub/myo_sim.git
+        url = https://github.com/jamesheald/myo_sim.git
+	branch = arm_with_no_hand
 [submodule "myosuite/simhive/furniture_sim"]
 	path = myosuite/simhive/furniture_sim
 	url = https://github.com/vikashplus/furniture_sim.git

docs/source/suite.rst

@@ -12,6 +12,7 @@ Models and tasks are the most important aspects of Myosuite. To provide further,
     * :ref:`myoHand`
     * :ref:`myoLeg`
     * :ref:`myoArm`
+    * :ref:`myoArmNoHand`
 * :ref:`tasks`
 * :ref:`task_and_variations`
 
@@ -23,7 +24,7 @@ Models and tasks are the most important aspects of Myosuite. To provide further,
 Models
 ********
 
-MyoSuite consists of five models: :ref:`myoFinger`, :ref:`myoElbow`, :ref:`myoHand`, :ref:`myoArm` and :ref:`myoLeg`.
+MyoSuite consists of six models: :ref:`myoFinger`, :ref:`myoElbow`, :ref:`myoHand`, :ref:`myoArm`, :ref:`myoArmNoHand` and :ref:`myoLeg`.
 Using these models, we design a rich collection of tasks ranging across simple reaching movements,
 contact-rich movements involving object-manipulation such as pen-twirling and baoding balls, as well as locomotion behaviors.
 
@@ -192,6 +193,17 @@ Model specification can be found on our github repo of `myoArm <https://github.c
 .. image:: images/myoArm.png
   :height: 200
 
+.. _myoArmNoHand:
+
+myoArmNoHand
+=========
+The myoArmNoHand is the myoArm with the extrinsic and intrinsic hand muscles removed, enabling the study of pure-reaching tasks that have no grasp or manipulation component. 
+
+This musculoskeletal model is comprised of 38 joints and 24 muscle-tendon units.
+
+.. image:: images/myoArm_NoHand.png
+  :height: 200
+
 .. _tasks:
 
 Tasks
@@ -328,6 +340,19 @@ Variants:
 .. image:: images/hand_pen_twirl.png
   :width: 200
 
+Arm Reach
+=====================
+
+Objective:
+    - Reach a target with the end of the forearm
+
+Variants:
+    - **Easy**: Reach to a fixed target ``myoArmReachFixed-v0``
+    - **Hard**: Reach to a randomly selected target ``myoArmReachRandom-v0``
+
+.. image:: images/myoArmNoHand_reach.png
+  :width: 200
+
 Hand Multiobject Reorientation
 ======================================
 A :ref:`myoHand` model reorients a set of parameterized geometries to a given target orientation without dropping it.

myosuite/detach_hand_from_arm.py

@@ -0,0 +1,39 @@
+
+import mujoco # tested with Version: 3.2.4
+from mujoco import viewer
+import time
+
+file_path = "simhive/myo_sim/arm/myoarm.xml"
+spec = mujoco.MjSpec.from_file(file_path)
+
+# find body to remove
+b_lunate = spec.find_body('lunate')
+b_lunate_pos = b_lunate.pos.copy()
+
+# add site to the parent body
+b_radius = spec.find_body('radius')
+b_radius.add_site(
+  name='wrist',
+    pos=b_lunate_pos,
+    group=3
+)
+
+# Remove the body
+spec.detach_body(b_lunate)
+
+# compile model and
+mj_model = spec.compile()
+mj_data = mujoco.MjData(mj_model)
+window = viewer.launch_passive(
+        mj_model,
+        mj_data,
+        show_left_ui=False,
+        show_right_ui=False,
+    )
+
+while window.is_running():
+  mujoco.mj_step(mj_model, mj_data)
+  window.sync()
+  time.sleep(.01)
+
+print("Success. Clear Exit")

myosuite/envs/myo/assets/arm/myoarm_reach.xml

@@ -0,0 +1,34 @@
+<mujoco model="MyoArm_NoHand_v0.01">
+<!-- =================================================
+    Copyright 2020 Vikash Kumar, Vittorio Caggiano, Guillaume Durandau
+    Model   :: Myo Arm No Hand (MuJoCoV2.0)
+    Author  :: Vikash Kumar ([email protected]), Vittorio Caggiano, Huawei Wang
+    source  :: https://github.com/vikashplus
+    License :: Under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
+====================================================== -->
+
+    <include file="../../../../simhive/myo_sim/arm/assets/myoarm_nohand_assets.xml"/>
+    <include file="../../../../simhive/myo_sim/scene/myosuite_scene.xml"/>
+    <compiler meshdir='../../../../simhive/myo_sim/' texturedir='../../../../simhive/myo_sim/'/>
+
+    <asset>
+        <mesh file="../myo_sim/meshes/human_lowpoly_norighthand.stl" name="body_norighthand"/>
+    </asset>
+
+    <worldbody>
+
+        <!-- ======= MyoArm ======= -->
+        <geom name="body" type="mesh" mesh="body_norighthand" euler="0 0 3.14" contype="0" conaffinity="0"/>
+        <body name="full_body" pos="-.025 0.1 1.40">
+            <include file="../../../../simhive/myo_sim/arm/assets/myoarm_body.xml"/>
+        </body>
+
+        <site name="forearm_tip_target" pos="0 0.002 0" rgba="0 1 0 .3" size="0.02"/>
+
+    </worldbody>
+
+    <keyframe>
+        <key qpos='-0.0707426 0.0299604 -0.0299638 0.0707454 -0.0143074 0.115747 0.0520177 -0.0520191 -0.115749 0.0143169 1.2671 0 -1.267 -0.013375 0 0.45559 0.173656 -0.141372 -0.500336 -0.780052 -0.383593 -0.0390846 0.0475231 -0.261981 0.0147788 0.00868063 0.00578373 -0.261937 0.00697434 0.00890255 -8.61942e-05 -0.261899 -2.25553e-05 0.00771655 -7.32368e-05 -0.133003 -1.74538e-05 0'/>
+    </keyframe>
+
+</mujoco>

myosuite/envs/myo/myobase/__init__.py

@@ -517,4 +517,31 @@ def register_env_with_variants(id, entry_point, max_episode_steps, kwargs):
                 'normalize_act': True,
                 'frame_skip': 5,
             }
-    )
+    )
+
+# 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': {
+                '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': 1.
+            }
+    )