added new actuators to MyoSkeleton.

- also added missing myomodel init module.

examples/simple_mushroom_env/example_myoskeleton.py

@@ -15,7 +15,7 @@
     if i == 1000 or absorbing:
         env.reset()
         i = 0
-    action = np.random.randn(action_dim) * 0.1
+    action = np.random.randn(action_dim)
     nstate, _, absorbing, _ = env.step(action)
 
     env.render()

loco_mujoco/environments/humanoids/myoskeleton.py

@@ -1407,16 +1407,113 @@ def _add_actuators(xml_handle):
         """
         Adds a generic actuator to each joint.
 
-        .. note:: Forces generated by the actuators are not realistic. These are preliminary actuators added for testing.
-
         """
+        max_joint_forces = dict(L5_S1_Flex_Ext=200,
+                                L5_S1_Lat_Bending=200,
+                                L5_S1_axial_rotation=200,
+                                L4_L5_Flex_Ext=200,
+                                L4_L5_Lat_Bending=200,
+                                L4_L5_axial_rotation=200,
+                                L3_L4_Flex_Ext=200,
+                                L3_L4_Lat_Bending=200,
+                                L3_L4_axial_rotation=200,
+                                L2_L3_Flex_Ext=200,
+                                L2_L3_Lat_Bending=200,
+                                L2_L3_axial_rotation=200,
+                                L1_L2_Flex_Ext=200,
+                                L1_L2_Lat_Bending=200,
+                                L1_L2_axial_rotation=200,
+                                L1_T12_Flex_Ext=200,
+                                L1_T12_Lat_Bending=200,
+                                L1_T12_axial_rotation=200,
+                                c7_c6_FE=50,
+                                c7_c6_LB=50,
+                                c7_c6_AR=50,
+                                c6_c5_FE=50,
+                                c6_c5_LB=50,
+                                c6_c5_AR=50,
+                                c5_c4_FE=50,
+                                c5_c4_LB=50,
+                                c5_c4_AR=50,
+                                c4_c3_FE=50,
+                                c4_c3_LB=50,
+                                c4_c3_AR=50,
+                                c3_c2_FE=50,
+                                c3_c2_LB=50,
+                                c3_c2_AR=50,
+                                c2_c1_FE=50,
+                                c2_c1_LB=50,
+                                c2_c1_AR=50,
+                                c1_skull_FE=50,
+                                c1_skull_LB=50,
+                                c1_skull_AR=50,
+                                skull_FE=50,
+                                skull_LB=50,
+                                skull_AR=50,
+                                sternoclavicular_r2_r=80,
+                                sternoclavicular_r3_r=80,
+                                unrotscap_r3_r=80,
+                                unrotscap_r2_r=80,
+                                acromioclavicular_r2_r=80,
+                                acromioclavicular_r3_r=80,
+                                acromioclavicular_r1_r=80,
+                                unrothum_r1_r=80,
+                                unrothum_r3_r=80,
+                                unrothum_r2_r=80,
+                                elv_angle_r=80,
+                                shoulder_elv_r=80,
+                                shoulder1_r2_r=80,
+                                shoulder_rot_r=80,
+                                elbow_flex_r=80,
+                                pro_sup=80,
+                                deviation=80,
+                                flexion_r=80,
+                                sternoclavicular_r2_l=80,
+                                sternoclavicular_r3_l=80,
+                                unrotscap_r3_l=80,
+                                unrotscap_r2_l=80,
+                                acromioclavicular_r2_l=80,
+                                acromioclavicular_r3_l=80,
+                                acromioclavicular_r1_l=80,
+                                unrothum_r1_l=80,
+                                unrothum_r3_l=80,
+                                unrothum_r2_l=80,
+                                elv_angle_l=80,
+                                shoulder_elv_l=80,
+                                shoulder1_r2_l=80,
+                                shoulder_rot_l=80,
+                                elbow_flex_l=80,
+                                pro_sup_l=80,
+                                deviation_l=80,
+                                flexion_l=80,
+                                hip_flexion_r=200,
+                                hip_adduction_r=200,
+                                hip_rotation_r=200,
+                                knee_angle_r=200,
+                                knee_angle_r_rotation2=20,
+                                knee_angle_r_rotation3=20,
+                                ankle_angle_r=200,
+                                subtalar_angle_r=200,
+                                mtp_angle_r=200,
+                                knee_angle_r_beta_rotation1=20,
+                                hip_flexion_l=200,
+                                hip_adduction_l=200,
+                                hip_rotation_l=200,
+                                knee_angle_l=200,
+                                knee_angle_l_rotation2=20,
+                                knee_angle_l_rotation3=20,
+                                ankle_angle_l=200,
+                                subtalar_angle_l=200,
+                                mtp_angle_l=200,
+                                knee_angle_l_beta_rotation1=20)
+
         joints = xml_handle.find_all("joint")
         for joint in joints:
             # add an actuator for every joint except the pelvis
             if "pelvis" not in joint.name:
-                xml_handle.actuator.add("general", name="act_" + joint.name, ctrllimited=True, ctrlrange=[-1.0, 1.0],
-                                        forcerange=[-250, 250], joint=joint.name, gaintype="fixed", biastype="affine",
-                                        gainprm=[500.0], biasprm=[0.0, -250.0, 0.0])
+                max_force = max_joint_forces[joint.name] if joint.name in max_joint_forces.keys() else 50
+                xml_handle.actuator.add("general", name="act_" + joint.name, joint=joint.name,
+                                        ctrlrange=[-max_force, max_force], ctrllimited=True)
         return xml_handle
 
     @staticmethod

loco_mujoco/utils/myomodel_init.py

@@ -0,0 +1,99 @@
+import os
+import shutil
+from os.path import expanduser
+import git
+from pathlib import Path
+
+import loco_mujoco
+
+
+data_dir = Path(loco_mujoco.__file__).resolve().parent / "environments" / "data"
+
+
+def fetch_git(repo_url, commit_hash, clone_directory, clone_path):
+    """
+    fetch git repo using provided details
+    """
+
+    clone_directory = os.path.join(clone_path, clone_directory)
+
+    try:
+        # Create the clone directory if it doesn't exist
+        os.makedirs(clone_directory, exist_ok=True)
+
+        # Clone the repository to the specified path
+        if not os.path.exists(os.path.join(clone_directory, '.git')):
+            repo = git.Repo.clone_from(repo_url, clone_directory)
+            print(f"{repo_url} cloned at {clone_directory}")
+        else:
+            repo = git.Repo(clone_directory)
+            origin = repo.remote('origin')
+            origin.fetch()
+
+        # Check out the specific commit if not already
+        current_commit_hash = repo.head.commit.hexsha
+        if current_commit_hash != commit_hash:
+            repo.git.checkout(commit_hash)
+            print(f"{repo_url}@{commit_hash} fetched at {clone_directory}")
+    except git.GitCommandError as e:
+        print(f"Error: {e}")
+
+    return clone_directory
+
+
+def clear_myoskeleton():
+    """
+    Remove cached MyoSkeleton if it exists.
+    """
+    print("LocoMujoco:> Clearing MyoSkeleton ...")
+    api_path = os.path.join(data_dir, 'myo_model')
+    if os.path.exists(api_path):
+        shutil.rmtree(api_path)
+    else:
+        print("LocoMujoco:> MyoSkeleton directory does not exist.")
+    print("LocoMujoco:> MyoSkeleton cleared")
+
+
+def accept_license():
+    prompt = """
+    A permissive license for non-commercial scientific research of the MyoSkeleton by the MyoLab Inc. is available.
+    You can review the license at: https://github.com/myolab/myo_model/blob/main/LICENSE
+    Do you accept the terms of the license? (yes/no):
+    """
+    response = input(prompt).strip().lower()
+
+    if response == 'yes':
+        print("Thank you for accepting the license. You may proceed.")
+        return True
+    elif response == 'no':
+        print("You have rejected the license terms. Exiting...")
+        return False
+    else:
+        print("Invalid input. Please enter 'yes' or 'no'.")
+        return accept_license()  # Recursively prompt again for valid input
+
+
+def fetch_myoskeleton():
+    """
+    Fetch a copy of MyoSkeleton.
+    """
+    print("\n\nLocoMuJoCo:> Initializing MyoSkeleton...")
+
+    # Inform user about API
+    if accept_license():
+        # Proceed with the rest of the code
+        print("LocoMuJoCo:> MyoSkeleton License accepted. Proceeding initialization ...")
+    else:
+        # Exit or handle the rejection case
+        print("LocoMuJoCo:> MyoSkeleton License rejected. Exiting")
+        return
+
+    # Fetch
+    print("LocoMuJoCo:> Downloading simulation assets (upto ~100MBs)")
+    fetch_git(repo_url="https://github.com/myolab/myo_model.git",
+              commit_hash="619b1a876113e91a302b9baeaad6c2341e12ac81",
+              clone_directory="myo_model",
+              clone_path=data_dir)
+
+    print("LocoMuJoCo:> Successfully initialized MyoSkeleton .")
+