BUGFIX: Kwargs wasn't being passed. So exterioceptions updates were m…

…issing. Also removing duplicate files in finger and basic. Will update the submodule next

robohive/envs/myo/__init__.py

@@ -52,7 +52,7 @@ def register_env_with_variants(id, entry_point, max_episode_steps, kwargs):
         entry_point='robohive.envs.myo.reach_v0:ReachEnvV0',
         max_episode_steps=200,
         kwargs={
-            'model_path': curr_dir+'/assets/finger/motor_finger_v0.xml',
+            'model_path': curr_dir+'/../../sims/myo_sim/finger/motor_finger_v0.xml',
             'target_reach_range': {'IFtip': ((0.2, 0.05, 0.20), (0.2, 0.05, 0.20)),},
             'normalize_act': True,
             'frame_skip': 5,
@@ -62,7 +62,7 @@ def register_env_with_variants(id, entry_point, max_episode_steps, kwargs):
         entry_point='robohive.envs.myo.reach_v0:ReachEnvV0',
         max_episode_steps=200,
         kwargs={
-            'model_path': curr_dir+'/assets/finger/motor_finger_v0.xml',
+            'model_path': curr_dir+'/../../sims/myo_sim/finger/motor_finger_v0.xml',
             'target_reach_range': {'IFtip': ((.1, -.1, .1), (0.27, .1, .3)),},
             'normalize_act': True,
             'frame_skip': 5,
@@ -72,7 +72,7 @@ def register_env_with_variants(id, entry_point, max_episode_steps, kwargs):
         entry_point='robohive.envs.myo.reach_v0:ReachEnvV0',
         max_episode_steps=100,
         kwargs={
-            'model_path': curr_dir+'/assets/finger/myo_finger_v0.xml',
+            'model_path': curr_dir+'/../../sims/myo_sim/finger/myo_finger_v0.xml',
             'target_reach_range': {'IFtip': ((0.2, 0.05, 0.20), (0.2, 0.05, 0.20)),},
             'normalize_act': True,
         }
@@ -81,7 +81,7 @@ def register_env_with_variants(id, entry_point, max_episode_steps, kwargs):
         entry_point='robohive.envs.myo.reach_v0:ReachEnvV0',
         max_episode_steps=100,
         kwargs={
-            'model_path': curr_dir+'/assets/finger/myo_finger_v0.xml',
+            'model_path': curr_dir+'/../../sims/myo_sim/finger/myo_finger_v0.xml',
             'target_reach_range': {'IFtip': ((.1, -.1, .1), (0.27, .1, .3)),},
             'normalize_act': True,
         }
@@ -160,7 +160,7 @@ def register_env_with_variants(id, entry_point, max_episode_steps, kwargs):
         entry_point='robohive.envs.myo.pose_v0:PoseEnvV0',
         max_episode_steps=200,
         kwargs={
-            'model_path': curr_dir+'/assets/finger/motor_finger_v0.xml',
+            'model_path': curr_dir+'/../../sims/myo_sim/finger/motor_finger_v0.xml',
             'target_jnt_range': {'IFadb':(0, 0),
                                 'IFmcp':(0, 0),
                                 'IFpip':(.75, .75),
@@ -175,7 +175,7 @@ def register_env_with_variants(id, entry_point, max_episode_steps, kwargs):
         entry_point='robohive.envs.myo.pose_v0:PoseEnvV0',
         max_episode_steps=200,
         kwargs={
-            'model_path': curr_dir+'/assets/finger/motor_finger_v0.xml',
+            'model_path': curr_dir+'/../../sims/myo_sim/finger/motor_finger_v0.xml',
             'target_jnt_range': {'IFadb':(-.2, .2),
                                 'IFmcp':(-.4, 1),
                                 'IFpip':(.1, 1),
@@ -190,7 +190,7 @@ def register_env_with_variants(id, entry_point, max_episode_steps, kwargs):
         entry_point='robohive.envs.myo.pose_v0:PoseEnvV0',
         max_episode_steps=100,
         kwargs={
-            'model_path': curr_dir+'/assets/finger/myo_finger_v0.xml',
+            'model_path': curr_dir+'/../../sims/myo_sim/finger/myo_finger_v0.xml',
             'target_jnt_range': {'IFadb':(0, 0),
                                 'IFmcp':(0, 0),
                                 'IFpip':(.75, .75),
@@ -204,7 +204,7 @@ def register_env_with_variants(id, entry_point, max_episode_steps, kwargs):
         entry_point='robohive.envs.myo.pose_v0:PoseEnvV0',
         max_episode_steps=100,
         kwargs={
-            'model_path': curr_dir+'/assets/finger/myo_finger_v0.xml',
+            'model_path': curr_dir+'/../../sims/myo_sim/finger/myo_finger_v0.xml',
             'target_jnt_range': {'IFadb':(-.2, .2),
                                 'IFmcp':(-.4, 1),
                                 'IFpip':(.1, 1),

robohive/envs/myo/assets/arm/myo_elbow_1dof6muscles.xml

@@ -1,4 +1,11 @@
 <mujoco model="Elbow joint with six muscle">
+<!-- =================================================
+	Copyright 2020 Vikash Kumar
+	Model	:: myo-elbow (MuJoCoV2.0)
+	Author	:: Vikash Kumar (vikashplus@gmail.com)
+	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="../../../../sims/myo_sim/elbow/assets/myo_elbow_assets.xml"/>
     <include file="../../../../sims/myo_sim/elbow/assets/myo_elbow_1dof6muscles_body.xml"/>

robohive/envs/myo/assets/arm/myo_elbow_1dof6muscles_1dofexo.xml

@@ -1,4 +1,11 @@
 <mujoco model="Elbow joint with single muscle">
+<!-- =================================================
+	Copyright 2020 Vikash Kumar
+	Model	:: myo-elbow (MuJoCoV2.0)
+	Author	:: Vikash Kumar (vikashplus@gmail.com)
+	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="../../../../sims/myo_sim/elbow/assets/myo_elbow_assets.xml"/>
     <include file="../../../../sims/myo_sim/elbow/assets/myo_elbow_1dof6muscles_1dofexo_body.xml"/>

robohive/envs/myo/assets/hand/myo_hand_baoding.xml

@@ -1,4 +1,11 @@
-<mujoco model="2nd hand model for baoding balls">
+<mujoco model="MyoHand model for baoding balls">
+<!-- =================================================
+	Copyright 2020 Vikash Kumar
+	Model	:: MyoHand (MuJoCoV2.0)
+	Author	:: Vikash Kumar (vikashplus@gmail.com)
+	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="../../../../sims/myo_sim/hand/assets/myo_hand_assets.xml"/>
     <include file="../../../../sims/myo_sim/hand/assets/myo_hand_body.xml"/>

robohive/envs/myo/assets/hand/myo_hand_die.xml

@@ -1,4 +1,11 @@
-<mujoco model="2nd hand model for object grasps">
+<mujoco model="MyoHand model for object grasps">
+<!-- =================================================
+	Copyright 2020 Vikash Kumar
+	Model	:: MyoHand (MuJoCoV2.0)
+	Author	:: Vikash Kumar (vikashplus@gmail.com)
+	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="../../../../sims/myo_sim/hand/assets/myo_hand_assets.xml"/>
     <include file="../../../../sims/myo_sim/hand/assets/myo_hand_body.xml"/>

robohive/envs/myo/assets/hand/myo_hand_hold.xml

@@ -1,11 +1,17 @@
-<mujoco model="2nd hand model for object grasps">
+<mujoco model="MyoHand model for object grasps">
+<!-- =================================================
+	Copyright 2020 Vikash Kumar
+	Model	:: MyoHand (MuJoCoV2.0)
+	Author	:: Vikash Kumar (vikashplus@gmail.com)
+	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="../../../../sims/myo_sim/hand/assets/myo_hand_assets.xml"/>
     <include file="../../../../sims/myo_sim/hand/assets/myo_hand_body.xml"/>
     <include file="../../../../sims/myo_sim/scene/myosuite_scene.xml"/>
     <compiler meshdir='../../../../sims/myo_sim/' texturedir='../../../../sims/myo_sim/'/>
 
-
     <worldbody>
         <site type="ellipsoid" name="goal" size=".025 .036 .030" pos="-.240 -.520 1.470" rgba="0 1 0 .2"/>