Visualize trajectory step by step

[anjugopinath]

Hello,

I want to visualize the trajectory of the robot and the object in unison.
I am using the .npz files in this path : https://github.com/MyoHub/myosuite/tree/main/myosuite/envs/myo/myodm/data

Is this something I can use?
https://github.com/MyoHub/myosuite/blob/main/docs/source/tutorials/6_Inverse_Dynamics.ipynb

[Vittorio-Caggiano]

@anjugopinath it seems you can access the trajectories of the object and hand. I do not understand the inverse dynamics question though. Can you clarify what are you trying to do ?

[justinthecao]

What do the 29 dof represent for the robot? Also what do the 7 values represent for the object.

[Vittorio-Caggiano]

23 degrees of the hand + translation/rotation (6 dof) of the shoulder/arm

[justinthecao]

so it would be [0....22] for joint angles
[23...25] for XYZ robot position
[26...28] for robot rotation?

[Vittorio-Caggiano]

check here

[justinthecao]

Yeah, I saw that function, but I can't seem to find what the robot values represent (it just copies the robot ref). I specifically want the positions of the robot hand.

[Vittorio-Caggiano]

you were correct, the first 23 elements correspond hand joints

[justinthecao]

How about the translation? Is it the 3 elements after that?

[Vittorio-Caggiano]

yes, first 3 after are translation and then orientation

myosuite/myosuite/envs/myo/myodm/myodm_v0.py

Line 315 in 7927eb0

def qpos_from_robot_object(self, qpos, robot, object):