Adding DoF

[hannita1]

In your paper "MyoDex:A Generalizable Prior for Dexterous Manipulation" it says that the MyoHand model was extended to include translations and rotations at the shoulder but it is not specified how this was done. Could you please tell me how this could be implemented?
(„We extended the MyoHand model to include translations and rotations at the level of the shoulder. We limited the translation on the frontal (range between [−0.07, 0.03]) and longitudinal (range between [−0.05, 0.05]) axis to support the natural shoulder and wrist rotation“)

[Vittorio-Caggiano]

Hi @hannita1 thanks for your interest in MyoDex. Have you looked at the ReadMe here: https://github.com/MyoHub/myosuite/tree/main/myosuite/envs/myo/myodm

The model is called myohand_object.xml