MyoHub · Vittorio-Caggiano · Feb 19, 2022 · Feb 19, 2022 · Feb 19, 2022 · Feb 19, 2022
diff --git a/.gitignore b/.gitignore
@@ -4,6 +4,7 @@
 __pycache__/
 *.py[cod]
 *$py.class
+*.pyc
 
 # C extensions
 *.so
@@ -67,6 +68,7 @@ instance/
 
 # Sphinx documentation
 docs/_build/
+docs/build/
 
 # PyBuilder
 target/
@@ -104,3 +106,8 @@ venv.bak/
 
 # mypy
 .mypy_cache/
+
+# release files #
+_build
+dist
+tags
diff --git a/docs/CODE_OF_CONDUCT.md b/docs/CODE_OF_CONDUCT.md
@@ -0,0 +1,80 @@
+# Code of Conduct
+
+## Our Pledge
+
+In the interest of fostering an open and welcoming environment, we as
+contributors and maintainers pledge to make participation in our project and
+our community a harassment-free experience for everyone, regardless of age, body
+size, disability, ethnicity, sex characteristics, gender identity and expression,
+level of experience, education, socio-economic status, nationality, personal
+appearance, race, religion, or sexual identity and orientation.
+
+## Our Standards
+
+Examples of behavior that contributes to creating a positive environment
+include:
+
+* Using welcoming and inclusive language
+* Being respectful of differing viewpoints and experiences
+* Gracefully accepting constructive criticism
+* Focusing on what is best for the community
+* Showing empathy towards other community members
+
+Examples of unacceptable behavior by participants include:
+
+* The use of sexualized language or imagery and unwelcome sexual attention or
+  advances
+* Trolling, insulting/derogatory comments, and personal or political attacks
+* Public or private harassment
+* Publishing others' private information, such as a physical or electronic
+  address, without explicit permission
+* Other conduct which could reasonably be considered inappropriate in a
+  professional setting
+
+## Our Responsibilities
+
+Project maintainers are responsible for clarifying the standards of acceptable
+behavior and are expected to take appropriate and fair corrective action in
+response to any instances of unacceptable behavior.
+
+Project maintainers have the right and responsibility to remove, edit, or
+reject comments, commits, code, wiki edits, issues, and other contributions
+that are not aligned to this Code of Conduct, or to ban temporarily or
+permanently any contributor for other behaviors that they deem inappropriate,
+threatening, offensive, or harmful.
+
+## Scope
+
+This Code of Conduct applies within all project spaces, and it also applies when
+an individual is representing the project or its community in public spaces.
+Examples of representing a project or community include using an official
+project e-mail address, posting via an official social media account, or acting
+as an appointed representative at an online or offline event. Representation of
+a project may be further defined and clarified by project maintainers.
+
+This Code of Conduct also applies outside the project spaces when there is a
+reasonable belief that an individual's behavior may have a negative impact on
+the project or its community.
+
+## Enforcement
+
+Instances of abusive, harassing, or otherwise unacceptable behavior may be
+reported by contacting the project team at <opensource-conduct@fb.com>. All
+complaints will be reviewed and investigated and will result in a response that
+is deemed necessary and appropriate to the circumstances. The project team is
+obligated to maintain confidentiality with regard to the reporter of an incident.
+Further details of specific enforcement policies may be posted separately.
+
+Project maintainers who do not follow or enforce the Code of Conduct in good
+faith may face temporary or permanent repercussions as determined by other
+members of the project's leadership.
+
+## Attribution
+
+This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 1.4,
+available at https://www.contributor-covenant.org/version/1/4/code-of-conduct.html
+
+[homepage]: https://www.contributor-covenant.org
+
+For answers to common questions about this code of conduct, see
+https://www.contributor-covenant.org/faq
diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md
@@ -0,0 +1,37 @@
+# Contributing to Facebook Open Source Projects
+
+We want to make contributing to Facebook Open Source Projects as easy and
+transparent as possible.
+
+## Pull Requests
+
+We actively welcome your pull requests.
+
+1. Fork the repo and create your branch from `main`.
+2. If you've added code that should be tested, add tests.
+3. If you've changed APIs, update the documentation.
+4. Ensure the test suite passes.
+5. Make sure your code lints.
+6. If you haven't already, complete the Contributor License Agreement ("CLA").
+
+## Contributor License Agreement ("CLA")
+
+In order to accept your pull request, we need you to submit a CLA. You only
+need to do this once to work on any of Facebook's open source projects.
+
+Complete your CLA here: <https://code.facebook.com/cla>
+
+## Issues
+
+We use GitHub issues to track public bugs. Please ensure your description is
+clear and has sufficient instructions to be able to reproduce the issue.
+
+Facebook has a [bounty program](https://www.facebook.com/whitehat/) for the
+safe disclosure of security bugs. In those cases, please go through the process
+outlined on that page and do not file a public issue.
+
+## License
+
+By contributing to Facebook Open Source Projects, you agree that your
+contributions will be licensed under the LICENSE file in the root directory of
+each project's source tree.
diff --git a/docs/Makefile b/docs/Makefile
@@ -0,0 +1,20 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS    ?=
+SPHINXBUILD   ?= sphinx-build
+SOURCEDIR     = source
+BUILDDIR      = build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
diff --git a/docs/make.bat b/docs/make.bat
@@ -0,0 +1,35 @@
+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+	set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=source
+set BUILDDIR=build
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+	echo.
+	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+	echo.installed, then set the SPHINXBUILD environment variable to point
+	echo.to the full path of the 'sphinx-build' executable. Alternatively you
+	echo.may add the Sphinx directory to PATH.
+	echo.
+	echo.If you don't have Sphinx installed, grab it from
+	echo.http://sphinx-doc.org/
+	exit /b 1
+)
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+
+:end
+popd
diff --git a/docs/requirements.txt b/docs/requirements.txt
@@ -0,0 +1,3 @@
+sphinx==4.0.2
+sphinx-autobuild
+sphinx-rtd-theme==0.5.2
diff --git a/docs/source/baselines.rst b/docs/source/baselines.rst
@@ -0,0 +1,32 @@
+RL Baselines
+============
+
+.. _baselines:
+
+
+Installation
+~~~~~~~~~~~~
+
+1. We use `mjrl <https://github.com/aravindr93/mjrl>`_ for our baselines. Please install it with ``python -m pip install git+https://github.com/aravindr93/mjrl.git``
+2. install hydra ``pip install hydra-core --upgrade``
+3. install `submitit <https://github.com/facebookincubator/submitit>`_ launcher hydra plugin to launch jobs on cluster/ local ``pip install hydra-submitit-launcher --upgrade``
+
+.. code-block:: bash
+
+    pip install git+https://github.com/aravindr93/mjrl.git
+    pip install hydra-core --upgrade
+    pip install hydra-submitit-launcher --upgrade
+    pip install submitit
+
+Launch training
+~~~~~~~~~~~~~~~~
+
+1. Get commands to lunch training by running `train_myosuite.sh` located in the `myosuite/agents` folder:
+
+.. code-block:: bash
+
+    sh train_myosuite.sh myo         # runs natively
+    sh train_myosuite.sh myo local   # use local launcher
+    sh train_myosuite.sh myo slurm   # use slurm launcher
+
+2. Further customize the prompts from the previous step and execute.
diff --git a/docs/source/conf.py b/docs/source/conf.py
@@ -0,0 +1,47 @@
+# Copyright (c) Facebook, Inc. and its affiliates
+# Authors  :: Vikash Kumar (vikashplus@gmail.com), Vittorio Caggiano (caggiano@gmail.com)
+#
+# This source code is licensed under the Apache 2 license found in the
+# LICENSE file in the root directory of this source tree.
+
+import os
+import sys
+
+sys.path.insert(0, os.path.abspath("../.."))
+sys.path.insert(0, os.path.abspath("../../myosuite"))
+
+# -- Project information
+
+project = 'myoSuite'
+copyright = "Copyright © 2022 Meta Platforms, Inc"
+author = "Meta AI Research"
+
+release = '0.1'
+version = '0.1.0'
+
+# -- General configuration
+
+extensions = [
+    'sphinx.ext.duration',
+    'sphinx.ext.doctest',
+    'sphinx.ext.autodoc',
+    'sphinx.ext.autosummary',
+    'sphinx.ext.intersphinx',
+    'sphinx_copybutton',
+    'RunNotebook',
+]
+
+intersphinx_mapping = {
+    'python': ('https://docs.python.org/3/', None),
+    'sphinx': ('https://www.sphinx-doc.org/en/master/', None),
+}
+intersphinx_disabled_domains = ['std']
+
+templates_path = ['_templates']
+
+# -- Options for HTML output
+
+html_theme = 'sphinx_rtd_theme'
+
+# -- Options for EPUB output
+epub_show_urls = 'footnote'
diff --git a/docs/source/images/Fatigue.png b/docs/source/images/Fatigue.png
diff --git a/docs/source/images/elbow_exo.png b/docs/source/images/elbow_exo.png
diff --git a/docs/source/images/elbow_joint_pose.png b/docs/source/images/elbow_joint_pose.png
diff --git a/docs/source/images/finger_joint_pose.png b/docs/source/images/finger_joint_pose.png
diff --git a/docs/source/images/finger_tip_reach.png b/docs/source/images/finger_tip_reach.png
diff --git a/docs/source/images/hand_baoding_balls.png b/docs/source/images/hand_baoding_balls.png
diff --git a/docs/source/images/hand_joint_pose.png b/docs/source/images/hand_joint_pose.png
diff --git a/docs/source/images/hand_key_turn.png b/docs/source/images/hand_key_turn.png
diff --git a/docs/source/images/hand_object_hold.png b/docs/source/images/hand_object_hold.png
diff --git a/docs/source/images/hand_pen_twirl.png b/docs/source/images/hand_pen_twirl.png
diff --git a/docs/source/images/hand_tip_reach.png b/docs/source/images/hand_tip_reach.png
diff --git a/docs/source/images/myoElbow.png b/docs/source/images/myoElbow.png
diff --git a/docs/source/images/myoFinger.png b/docs/source/images/myoFinger.png
diff --git a/docs/source/images/myoHand.png b/docs/source/images/myoHand.png
diff --git a/docs/source/images/myoSuite_All.png b/docs/source/images/myoSuite_All.png
diff --git a/docs/source/images/tendon_transfer.png b/docs/source/images/tendon_transfer.png
diff --git a/docs/source/index.rst b/docs/source/index.rst
@@ -0,0 +1,27 @@
+Welcome to myoSuite's documentation!
+=====================================
+
+**myoSuite**  is a collection of musculoskeletal environments and tasks simulated with the `MuJoCo <http://www.mujoco.org/>`_ physics engine and wrapped in the OpenAI ``gym`` API to enable the application of Machine Learning to bio-mechanic control problems
+
+.. note::
+
+   This project is under active development.
+
+.. toctree::
+   :maxdepth: 1
+   :caption: Get started
+
+   install
+   suite
+   tutorials
+   baselines
+
+.. toctree::
+   :maxdepth: 1
+   :caption: References
+
+   publications
+
+
+How to cite
+-----------
diff --git a/docs/source/install.rst b/docs/source/install.rst
@@ -0,0 +1,78 @@
+Installation
+============
+
+.. _installation:
+
+myoSuite uses git submodules to resolve dependencies.
+Please follow steps exactly as below to install correctly.
+
+Requirements
+~~~~~~~~~~~~
+* python >= 3.7.1 (if needed follow instructions `here <https://docs.conda.io/en/latest/miniconda.html>`_ for installing python and conda)
+* free-mujoco-py >= 2.1.6
+
+
+Installing the pip package
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. code-block:: bash
+
+   conda create --name myoSuite python=3.7.1
+   conda activate myoSuite
+   pip install -U myosuite
+
+
+(alternative) Installing from source
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+❗IMPORTANT❗ Install MuJoCo 2.1 before installing myoSuite
+
+To get started with myoSuite, clone this repo with pre-populated submodule dependencies
+
+.. code-block:: bash
+
+   git clone --recursive https://github.com/facebookresearch/myosuite.git
+   cd myosuite
+   pip install -e -r requirements
+
+OR Add repo to pythonpath by updating `~/.bashrc` or `~/.bash_profile`
+
+.. code-block:: bash
+
+   export PYTHONPATH="<path/to/myoSuite>:$PYTHONPATH"
+
+Testing the installation
+~~~~~~~~~~~~~~~~~~~~~~~~
+
+You can test the installation using
+
+.. code-block:: bash
+
+   python myoSuite/tests/test_myo.py
+
+You can visualize the environments with random controls using the below command
+
+.. code-block:: bash
+
+   python myosuite/utils/visualize_env.py --env_name myoElbowPose1D6MRandom-v0
+
+.. note::
+   If the visualization results in a GLFW error, this is because ``mujoco-py`` does not see some graphics drivers correctly.
+   This can usually be fixed by explicitly loading the correct drivers before running the python script.
+   See `this page <https://github.com/aravindr93/mjrl/tree/master/setup#known-issues>`_ for details.
+
+Examples
+~~~~~~~~~
+
+It is possible to create and interface with myoSuite environments like any other OpenAI gym environments.
+For example, to use the ``myoElbowPose1D6MRandom-v0`` environment it is possible simply to run:
+
+.. code-block:: python
+
+   import myosuite
+   import gym
+   env = gym.make('myoElbowPose1D6MRandom-v0')
+   env.reset()
+   for _ in range(1000):
+      env.sim.render(mode='window')
+      env.step(env.action_space.sample()) # take a random action
+   env.close()
diff --git a/docs/source/publications.rst b/docs/source/publications.rst
@@ -0,0 +1,5 @@
+Publications
+============
+
+
+* Huawei Wang*, Vittorio Caggiano*, Guillaume Durandau, Massimo Sartori, Vikash Kumar,	`AdeptSim: A fast and physiologically realistic simulation framework for musculoskeletal and exoskeletal studies`, 2022 IEEE International Conference on Robotics and Automation (ICRA).