fix bathing stretch move & update dressing_env

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)

template/Bathing/BathingPlayer_Data/StreamingAssets/aa/settings.json

@@ -1 +1 @@
-{"m_buildTarget":"StandaloneLinux64","m_SettingsHash":"7ad7f27bc56e49a4067c0ba16533d8f2","m_CatalogLocations":[{"m_Keys":["AddressablesMainContentCatalogRemoteHash"],"m_InternalId":"{UnityEngine.AddressableAssets.Addressables.RuntimePath}/StandaloneLinux64/catalog_2024.09.07.06.36.40.hash","m_Provider":"UnityEngine.ResourceManagement.ResourceProviders.TextDataProvider","m_Dependencies":[],"m_ResourceType":{"m_AssemblyName":"mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089","m_ClassName":"System.String"},"SerializedData":[7,76,85,110,105,116,121,46,82,101,115,111,117,114,99,101,77,97,110,97,103,101,114,44,32,86,101,114,115,105,111,110,61,48,46,48,46,48,46,48,44,32,67,117,108,116,117,114,101,61,110,101,117,116,114,97,108,44,32,80,117,98,108,105,99,75,101,121,84,111,107,101,110,61,110,117,108,108,75,85,110,105,116,121,69,110,103,105,110,101,46,82,101,115,111,117,114,99,101,77,97,110,97,103,101,109,101,110,116,46,82,101,115,111,117,114,99,101,80,114,111,118,105,100,101,114,115,46,80,114,111,118,105,100,101,114,76,111,97,100,82,101,113,117,101,115,116,79,112,116,105,111,110,115,50,0,0,0,123,0,34,0,109,0,95,0,73,0,103,0,110,0,111,0,114,0,101,0,70,0,97,0,105,0,108,0,117,0,114,0,101,0,115,0,34,0,58,0,116,0,114,0,117,0,101,0,125,0]},{"m_Keys":["AddressablesMainContentCatalogCacheHash"],"m_InternalId":"{UnityEngine.Application.persistentDataPath}/com.unity.addressables/catalog_2024.09.07.06.36.40.hash","m_Provider":"UnityEngine.ResourceManagement.ResourceProviders.TextDataProvider","m_Dependencies":[],"m_ResourceType":{"m_AssemblyName":"mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089","m_ClassName":"System.String"},"SerializedData":[7,76,85,110,105,116,121,46,82,101,115,111,117,114,99,101,77,97,110,97,103,101,114,44,32,86,101,114,115,105,111,110,61,48,46,48,46,48,46,48,44,32,67,117,108,116,117,114,101,61,110,101,117,116,114,97,108,44,32,80,117,98,108,105,99,75,101,121,84,111,107,101,110,61,110,117,108,108,75,85,110,105,116,121,69,110,103,105,110,101,46,82,101,115,111,117,114,99,101,77,97,110,97,103,101,109,101,110,116,46,82,101,115,111,117,114,99,101,80,114,111,118,105,100,101,114,115,46,80,114,111,118,105,100,101,114,76,111,97,100,82,101,113,117,101,115,116,79,112,116,105,111,110,115,50,0,0,0,123,0,34,0,109,0,95,0,73,0,103,0,110,0,111,0,114,0,101,0,70,0,97,0,105,0,108,0,117,0,114,0,101,0,115,0,34,0,58,0,116,0,114,0,117,0,101,0,125,0]},{"m_Keys":["AddressablesMainContentCatalog"],"m_InternalId":"{UnityEngine.AddressableAssets.Addressables.RuntimePath}/catalog.json","m_Provider":"UnityEngine.AddressableAssets.ResourceProviders.ContentCatalogProvider","m_Dependencies":["AddressablesMainContentCatalogRemoteHash","AddressablesMainContentCatalogCacheHash"],"m_ResourceType":{"m_AssemblyName":"Unity.Addressables, Version=0.0.0.0, Culture=neutral, PublicKeyToken=null","m_ClassName":"UnityEngine.AddressableAssets.ResourceLocators.ContentCatalogData"},"SerializedData":[7,76,85,110,105,116,121,46,82,101,115,111,117,114,99,101,77,97,110,97,103,101,114,44,32,86,101,114,115,105,111,110,61,48,46,48,46,48,46,48,44,32,67,117,108,116,117,114,101,61,110,101,117,116,114,97,108,44,32,80,117,98,108,105,99,75,101,121,84,111,107,101,110,61,110,117,108,108,75,85,110,105,116,121,69,110,103,105,110,101,46,82,101,115,111,117,114,99,101,77,97,110,97,103,101,109,101,110,116,46,82,101,115,111,117,114,99,101,80,114,111,118,105,100,101,114,115,46,80,114,111,118,105,100,101,114,76,111,97,100,82,101,113,117,101,115,116,79,112,116,105,111,110,115,50,0,0,0,123,0,34,0,109,0,95,0,73,0,103,0,110,0,111,0,114,0,101,0,70,0,97,0,105,0,108,0,117,0,114,0,101,0,115,0,34,0,58,0,116,0,114,0,117,0,101,0,125,0]}],"m_ProfileEvents":false,"m_LogResourceManagerExceptions":true,"m_ExtraInitializationData":[],"m_DisableCatalogUpdateOnStart":false,"m_IsLocalCatalogInBundle":false,"m_CertificateHandlerType":{"m_AssemblyName":"","m_ClassName":""},"m_AddressablesVersion":"1.21.21","m_maxConcurrentWebRequests":500,"m_CatalogRequestsTimeout":0}
+{"m_buildTarget":"StandaloneLinux64","m_SettingsHash":"2d7c4bd96b721a504d36174c978ba6fb","m_CatalogLocations":[{"m_Keys":["AddressablesMainContentCatalogRemoteHash"],"m_InternalId":"{UnityEngine.AddressableAssets.Addressables.RuntimePath}/StandaloneLinux64/catalog_2024.09.13.19.42.00.hash","m_Provider":"UnityEngine.ResourceManagement.ResourceProviders.TextDataProvider","m_Dependencies":[],"m_ResourceType":{"m_AssemblyName":"mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089","m_ClassName":"System.String"},"SerializedData":[7,76,85,110,105,116,121,46,82,101,115,111,117,114,99,101,77,97,110,97,103,101,114,44,32,86,101,114,115,105,111,110,61,48,46,48,46,48,46,48,44,32,67,117,108,116,117,114,101,61,110,101,117,116,114,97,108,44,32,80,117,98,108,105,99,75,101,121,84,111,107,101,110,61,110,117,108,108,75,85,110,105,116,121,69,110,103,105,110,101,46,82,101,115,111,117,114,99,101,77,97,110,97,103,101,109,101,110,116,46,82,101,115,111,117,114,99,101,80,114,111,118,105,100,101,114,115,46,80,114,111,118,105,100,101,114,76,111,97,100,82,101,113,117,101,115,116,79,112,116,105,111,110,115,50,0,0,0,123,0,34,0,109,0,95,0,73,0,103,0,110,0,111,0,114,0,101,0,70,0,97,0,105,0,108,0,117,0,114,0,101,0,115,0,34,0,58,0,116,0,114,0,117,0,101,0,125,0]},{"m_Keys":["AddressablesMainContentCatalogCacheHash"],"m_InternalId":"{UnityEngine.Application.persistentDataPath}/com.unity.addressables/catalog_2024.09.13.19.42.00.hash","m_Provider":"UnityEngine.ResourceManagement.ResourceProviders.TextDataProvider","m_Dependencies":[],"m_ResourceType":{"m_AssemblyName":"mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089","m_ClassName":"System.String"},"SerializedData":[7,76,85,110,105,116,121,46,82,101,115,111,117,114,99,101,77,97,110,97,103,101,114,44,32,86,101,114,115,105,111,110,61,48,46,48,46,48,46,48,44,32,67,117,108,116,117,114,101,61,110,101,117,116,114,97,108,44,32,80,117,98,108,105,99,75,101,121,84,111,107,101,110,61,110,117,108,108,75,85,110,105,116,121,69,110,103,105,110,101,46,82,101,115,111,117,114,99,101,77,97,110,97,103,101,109,101,110,116,46,82,101,115,111,117,114,99,101,80,114,111,118,105,100,101,114,115,46,80,114,111,118,105,100,101,114,76,111,97,100,82,101,113,117,101,115,116,79,112,116,105,111,110,115,50,0,0,0,123,0,34,0,109,0,95,0,73,0,103,0,110,0,111,0,114,0,101,0,70,0,97,0,105,0,108,0,117,0,114,0,101,0,115,0,34,0,58,0,116,0,114,0,117,0,101,0,125,0]},{"m_Keys":["AddressablesMainContentCatalog"],"m_InternalId":"{UnityEngine.AddressableAssets.Addressables.RuntimePath}/catalog.json","m_Provider":"UnityEngine.AddressableAssets.ResourceProviders.ContentCatalogProvider","m_Dependencies":["AddressablesMainContentCatalogRemoteHash","AddressablesMainContentCatalogCacheHash"],"m_ResourceType":{"m_AssemblyName":"Unity.Addressables, Version=0.0.0.0, Culture=neutral, PublicKeyToken=null","m_ClassName":"UnityEngine.AddressableAssets.ResourceLocators.ContentCatalogData"},"SerializedData":[7,76,85,110,105,116,121,46,82,101,115,111,117,114,99,101,77,97,110,97,103,101,114,44,32,86,101,114,115,105,111,110,61,48,46,48,46,48,46,48,44,32,67,117,108,116,117,114,101,61,110,101,117,116,114,97,108,44,32,80,117,98,108,105,99,75,101,121,84,111,107,101,110,61,110,117,108,108,75,85,110,105,116,121,69,110,103,105,110,101,46,82,101,115,111,117,114,99,101,77,97,110,97,103,101,109,101,110,116,46,82,101,115,111,117,114,99,101,80,114,111,118,105,100,101,114,115,46,80,114,111,118,105,100,101,114,76,111,97,100,82,101,113,117,101,115,116,79,112,116,105,111,110,115,50,0,0,0,123,0,34,0,109,0,95,0,73,0,103,0,110,0,111,0,114,0,101,0,70,0,97,0,105,0,108,0,117,0,114,0,101,0,115,0,34,0,58,0,116,0,114,0,117,0,101,0,125,0]}],"m_ProfileEvents":false,"m_LogResourceManagerExceptions":true,"m_ExtraInitializationData":[],"m_DisableCatalogUpdateOnStart":false,"m_IsLocalCatalogInBundle":false,"m_CertificateHandlerType":{"m_AssemblyName":"","m_ClassName":""},"m_AddressablesVersion":"1.21.21","m_maxConcurrentWebRequests":500,"m_CatalogRequestsTimeout":0}

template/Bathing/BathingPlayer_Data/boot.config

@@ -1,14 +1,14 @@
 player-connection-mode=Listen
-player-connection-guid=2757552504
+player-connection-guid=3553645385
 player-connection-debug=0
 player-connection-project-name=BathingPlayer
 player-connection-ip=192.168.194.8
 player-connection-ip=192.168.80.1
 player-connection-ip=192.168.230.1
-player-connection-ip=192.168.160.1
+player-connection-ip=172.24.32.1
 player-connection-ip=192.168.0.181
 wait-for-native-debugger=0
 hdr-display-enabled=0
 gc-max-time-slice=3
 force-d3d11-bitblt-model=
-build-guid=02e9a24fb7284158b5043ebfe3d02b8a
+build-guid=b23937a029ab44bba43305b5ce353d48

template/test_bathing.py

@@ -35,20 +35,20 @@ def _main(use_graphics=False):
     env.step(300)
 
     gripper.GripperClose()
-    env.step()
+    env.step(300)
 
     # Obtain sponge data and simulate a step
     sponge = env.get_sponge()
     env.step()
     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)
 

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