From 5c269116ee05bcd778214b31c107e84f6b95c2bd Mon Sep 17 00:00:00 2001 From: Alkdis Chen Date: Fri, 13 Sep 2024 21:01:14 -0400 Subject: [PATCH] fix bathing stretch move & update dressing_env --- .../pyrcareworld/envs/dressing_env.py | 24 ++++++++++++++-- .../Managed/Assembly-CSharp-firstpass.dll | Bin 99328 -> 99328 bytes .../Managed/Assembly-CSharp.dll | Bin 39424 -> 39424 bytes .../Managed/RFUniverse.EditMode.dll | Bin 57344 -> 57344 bytes .../Managed/RFUniverse.Extend.dll | Bin 50176 -> 50176 bytes .../BathingPlayer_Data/Managed/RFUniverse.dll | Bin 289792 -> 290304 bytes ....hash => catalog_2024.09.13.19.42.00.hash} | 0 ....json => catalog_2024.09.13.19.42.00.json} | 0 .../StreamingAssets/aa/settings.json | 2 +- .../Bathing/BathingPlayer_Data/boot.config | 6 ++-- .../BathingPlayer_Data/globalgamemanagers | Bin 166492 -> 166492 bytes .../BathingPlayer_Data/resources.assets | Bin 15878808 -> 15878808 bytes template/test_bathing.py | 12 ++++---- template/test_dressing.py | 26 ++++++++---------- 14 files changed, 43 insertions(+), 27 deletions(-) rename template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/{catalog_2024.09.07.06.36.40.hash => catalog_2024.09.13.19.42.00.hash} (100%) rename template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/{catalog_2024.09.07.06.36.40.json => catalog_2024.09.13.19.42.00.json} (100%) diff --git a/pyrcareworld/pyrcareworld/envs/dressing_env.py b/pyrcareworld/pyrcareworld/envs/dressing_env.py index 50e78163..d6dae2f0 100644 --- a/pyrcareworld/pyrcareworld/envs/dressing_env.py +++ b/pyrcareworld/pyrcareworld/envs/dressing_env.py @@ -3,13 +3,33 @@ from pyrcareworld.envs.base_env import RCareWorld from pathlib import Path - _TEMPLATE_PATH = Path(__file__).parents[3] / "template" _DEFAULT_EXECUTABLE_PATH = _TEMPLATE_PATH / "Dressing" / "DressingPlayer.x86_64" - class DressingEnv(RCareWorld): """Dressing environment for the PhyRC competition.""" + # Environment-specific unity attribute IDs. + _robot_id: int = 315893 + _gripper_id: int = 3158930 + _camera_id: int = 654321 + _cloth_id: int = 782563 + def __init__(self, executable_file=str(_DEFAULT_EXECUTABLE_PATH), *args, **kwargs): super().__init__(executable_file=executable_file, *args, **kwargs) + + def get_robot(self): + """Access the robot.""" + return self.GetAttr(self._robot_id) + + def get_gripper(self): + """Access the gripper.""" + return self.GetAttr(self._gripper_id) + + def get_camera(self): + """Access the camera.""" + return self.GetAttr(self._camera_id) + + def get_cloth(self): + """Access the cloth.""" + return self.GetAttr(self._cloth_id) \ No newline at end of file diff --git a/template/Bathing/BathingPlayer_Data/Managed/Assembly-CSharp-firstpass.dll b/template/Bathing/BathingPlayer_Data/Managed/Assembly-CSharp-firstpass.dll index dcafa0b7795c0ffc595fe15f27102e3802d57209..506d7bf01aa9a08129b9f8db0b17bd11d05e7c2c 100644 GIT binary patch delta 114 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_main(use_graphics=False): print(sponge.data) # Camera operations: Attach a camera to the robot's hand - camera_hand = env.GetAttr(654321) - camera_hand.SetTransform(position=gripper.data['position'], rotation=[0, 0, 0]) - camera_hand.SetParent(2215820) - camera_hand.GetRGB(512, 512) + camera = env.get_camera() + camera.SetTransform(position=gripper.data['position'], rotation=[0, 0, 0]) + camera.SetParent(2215820) + camera.GetRGB(512, 512) env.step() - rgb = np.frombuffer(camera_hand.data["rgb"], dtype=np.uint8) + rgb = np.frombuffer(camera.data["rgb"], dtype=np.uint8) rgb = cv2.imdecode(rgb, cv2.IMREAD_COLOR) cv2.imwrite("rgb_hand.png", rgb) diff --git a/template/test_dressing.py b/template/test_dressing.py index d1ee5182..03c8f887 100644 --- a/template/test_dressing.py +++ b/template/test_dressing.py @@ -25,32 +25,28 @@ def _main(use_graphics=False): env = DressingEnv(graphics=use_graphics) print(env.attrs) - kinova_id = 315893 - robot = env.GetAttr(kinova_id) + robot = env.get_robot() env.step() # Get the gripper attribute and open the gripper - gripper = env.GetAttr(3158930) + gripper = env.get_gripper() gripper.GripperOpen() env.step(300) gripper.GripperClose() env.step(300) - # Get the cloth attribute and perform a simulation step - cloth = env.GetAttr(782563) + cloth = env.get_cloth() + print(cloth.data) + + # Camera operations: Attach a camera to the robot's hand + camera = env.get_camera() + camera.SetTransform(position=gripper.data['position'], rotation=[-90, 90, -90]) + camera.SetParent(3158930) + camera.GetRGB(512, 512) env.step() - # print(cloth.data) - - # Set the camera as a child of the robot's hand - # you can also load new cameras and set them as children of other objects in the scene - camera_hand = env.GetAttr(654321) - camera_hand.SetTransform(position=gripper.data['position'], rotation=[-90, 90, -90]) - camera_hand.SetParent(3158930) - camera_hand.GetRGB(512, 512) - env.step() - rgb = np.frombuffer(camera_hand.data["rgb"], dtype=np.uint8) + rgb = np.frombuffer(camera.data["rgb"], dtype=np.uint8) env.step() # Random positions and rotation