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Merge pull request #129 from empriselab/ruolin/fix-bathing
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Added fix for Stretch movement.
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@YoruCathy
YoruCathy authored Oct 10, 2024
2 parents 0eb1ad6 + f6953ef commit bcefa67
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Showing 68 changed files with 193 additions and 133 deletions.
1 change: 1 addition & 0 deletions .gitattributes
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@@ -1 +1,2 @@
.zip filter=lfs diff=lfs merge=lfs -text
template/Bathing/10-7[[:space:]]RCareToborFix_Data/StreamingAssets/aa/StandaloneLinux64/user_assets_all_8a7e8c517c5bd193b6a83d9a3d7b4a7a.bundle filter=lfs diff=lfs merge=lfs -text
1 change: 1 addition & 0 deletions .github/workflows/ci.yml
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Expand Up @@ -22,4 +22,5 @@ jobs:
pip uninstall -y numpy
conda install numpy
cd ../
pytest tests/
6 changes: 3 additions & 3 deletions pyrcareworld/pyrcareworld/attributes/controller_attr.py
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Expand Up @@ -209,7 +209,7 @@ def TurnLeft(self, angle: float, speed: float):
:param angle: Float, rotation angle.
:param speed: Float, velocity.
"""
self._send_data("TurnLeft", float(angle), float(speed*2000))
self._send_data("TurnLeft", float(angle), float(speed*100))

def TurnRight(self, angle: float, speed: float):
"""
Expand All @@ -218,7 +218,7 @@ def TurnRight(self, angle: float, speed: float):
:param angle: Float, rotation angle.
:param speed: Float, velocity.
"""
self._send_data("TurnRight", float(angle), float(speed*2000))
self._send_data("TurnRight", float(angle), float(speed*100))

def StopMovement(self):
"""
Expand Down Expand Up @@ -379,4 +379,4 @@ def AddRoot6DOF(self, new_id: int = None):
new_id = int("1" + str(self.id))
self._send_data("AddRoot6DOF", new_id)
self.env.attrs[new_id] = ControllerAttr(self.env, new_id)
return self.env.attrs[new_id]
return self.env.attrs[new_id]
11 changes: 7 additions & 4 deletions pyrcareworld/pyrcareworld/envs/bathing_env.py
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@@ -1,5 +1,8 @@
"""Bathing environment for the PhyRC competition."""

from pyrcareworld.attributes.camera_attr import CameraAttr
from pyrcareworld.attributes.controller_attr import ControllerAttr
from pyrcareworld.attributes.sponge_attr import SpongeAttr
from pyrcareworld.envs.base_env import RCareWorld
from pathlib import Path

Expand All @@ -20,18 +23,18 @@ class BathingEnv(RCareWorld):
def __init__(self, executable_file=str(_DEFAULT_EXECUTABLE_PATH), *args, **kwargs):
super().__init__(executable_file=executable_file, *args, **kwargs)

def get_robot(self):
def get_robot(self) -> ControllerAttr:
"""Access the robot."""
return self.GetAttr(self._robot_id)

def get_gripper(self):
def get_gripper(self) -> ControllerAttr:
"""Access the gripper."""
return self.GetAttr(self._gripper_id)

def get_camera(self):
def get_camera(self) -> CameraAttr:
"""Access the camera."""
return self.GetAttr(self._camera_id)

def get_sponge(self):
def get_sponge(self) -> SpongeAttr:
"""Access the sponge."""
return self.GetAttr(self._sponge_id)
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90 changes: 41 additions & 49 deletions ...athing/BathingPlayer_BurstDebugInformation_DoNotShip/Data/Plugins/lib_burst_generated.txt
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@@ -1,4 +1,4 @@
Library: F:\Code\UnityProject\RCare2+Obi6\Temp\BurstOutput\Data\Plugins\lib_burst_generated
Library: /home/cathy/Workspace/phy-robo-care/UnityProject/RCare2+Obi6/Temp/BurstOutput/Data/Plugins/lib_burst_generated
--platform=Linux
--backend=burst-llvm-16
--target=X64_SSE2
Expand All @@ -7,12 +7,11 @@ Library: F:\Code\UnityProject\RCare2+Obi6\Temp\BurstOutput\Data\Plugins\lib_burs
--dump=Function
--float-precision=Standard
--target-framework=NetFramework
--generate-link-xml=Temp\burst.link.xml
--temp-folder=F:\Code\UnityProject\RCare2+Obi6\Temp\Burst
--debug=LineOnly
--key-folder=F:/Code/Unity/2022.3.34f1/Editor/Data/PlaybackEngines/LinuxStandaloneSupport
--decode-folder=F:\Code\UnityProject\RCare2+Obi6\Library\Burst
--output=F:\Code\UnityProject\RCare2+Obi6\Temp\BurstOutput\Data\Plugins\lib_burst_generated
--generate-link-xml=Temp/burst.link.xml
--temp-folder=/home/cathy/Workspace/phy-robo-care/UnityProject/RCare2+Obi6/Temp/Burst
--key-folder=/home/cathy/Unity/Hub/Editor/2022.3.34f1/Editor/Data/PlaybackEngines/LinuxStandaloneSupport
--decode-folder=/home/cathy/Workspace/phy-robo-care/UnityProject/RCare2+Obi6/Library/Burst
--output=/home/cathy/Workspace/phy-robo-care/UnityProject/RCare2+Obi6/Temp/BurstOutput/Data/Plugins/lib_burst_generated
--pdb-search-paths=Temp/ManagedSymbols/

--method=Unity.Jobs.IJobParallelForExtensions+ParallelForJobStruct`1[[Unity.Barracuda.BurstCPUOps+Relu6Job_Full_Float, Unity.Barracuda, Version=3.0.0.0, Culture=neutral, PublicKeyToken=null]], UnityEngine.CoreModule, Version=0.0.0.0, Culture=neutral, PublicKeyToken=null::Execute(Unity.Barracuda.BurstCPUOps+Relu6Job_Full_Float&, Unity.Barracuda, Version=3.0.0.0, Culture=neutral, PublicKeyToken=null|System.IntPtr, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089|System.IntPtr, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089|Unity.Jobs.LowLevel.Unsafe.JobRanges&, UnityEngine.CoreModule, Version=0.0.0.0, Culture=neutral, PublicKeyToken=null|System.Int32, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089)--db5dc6c8ea53410100f79e66afceabda
Expand Down Expand Up @@ -123,12 +122,11 @@ Library: F:\Code\UnityProject\RCare2+Obi6\Temp\BurstOutput\Data\Plugins\lib_burs
--dump=Function
--float-precision=Standard
--target-framework=NetFramework
--generate-link-xml=Temp\burst.link.xml
--temp-folder=F:\Code\UnityProject\RCare2+Obi6\Temp\Burst
--debug=LineOnly
--key-folder=F:/Code/Unity/2022.3.34f1/Editor/Data/PlaybackEngines/LinuxStandaloneSupport
--decode-folder=F:\Code\UnityProject\RCare2+Obi6\Library\Burst
--output=F:\Code\UnityProject\RCare2+Obi6\Temp\BurstOutput\Data\Plugins\lib_burst_generated
--generate-link-xml=Temp/burst.link.xml
--temp-folder=/home/cathy/Workspace/phy-robo-care/UnityProject/RCare2+Obi6/Temp/Burst
--key-folder=/home/cathy/Unity/Hub/Editor/2022.3.34f1/Editor/Data/PlaybackEngines/LinuxStandaloneSupport
--decode-folder=/home/cathy/Workspace/phy-robo-care/UnityProject/RCare2+Obi6/Library/Burst
--output=/home/cathy/Workspace/phy-robo-care/UnityProject/RCare2+Obi6/Temp/BurstOutput/Data/Plugins/lib_burst_generated
--pdb-search-paths=Temp/ManagedSymbols/

--method=Unity.Jobs.IJobParallelForExtensions+ParallelForJobStruct`1[[Unity.Barracuda.BurstCPUOps+Relu6Job_Full_Float, Unity.Barracuda, Version=3.0.0.0, Culture=neutral, PublicKeyToken=null]], UnityEngine.CoreModule, Version=0.0.0.0, Culture=neutral, PublicKeyToken=null::Execute(Unity.Barracuda.BurstCPUOps+Relu6Job_Full_Float&, Unity.Barracuda, Version=3.0.0.0, Culture=neutral, PublicKeyToken=null|System.IntPtr, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089|System.IntPtr, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089|Unity.Jobs.LowLevel.Unsafe.JobRanges&, UnityEngine.CoreModule, Version=0.0.0.0, Culture=neutral, PublicKeyToken=null|System.Int32, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089)--db5dc6c8ea53410100f79e66afceabda
Expand Down Expand Up @@ -239,12 +237,11 @@ Library: F:\Code\UnityProject\RCare2+Obi6\Temp\BurstOutput\Data\Plugins\lib_burs
--dump=Function
--float-precision=Standard
--target-framework=NetFramework
--generate-link-xml=Temp\burst.link.xml
--temp-folder=F:\Code\UnityProject\RCare2+Obi6\Temp\Burst
--debug=LineOnly
--key-folder=F:/Code/Unity/2022.3.34f1/Editor/Data/PlaybackEngines/LinuxStandaloneSupport
--decode-folder=F:\Code\UnityProject\RCare2+Obi6\Library\Burst
--output=F:\Code\UnityProject\RCare2+Obi6\Temp\BurstOutput\Data\Plugins\lib_burst_generated
--generate-link-xml=Temp/burst.link.xml
--temp-folder=/home/cathy/Workspace/phy-robo-care/UnityProject/RCare2+Obi6/Temp/Burst
--key-folder=/home/cathy/Unity/Hub/Editor/2022.3.34f1/Editor/Data/PlaybackEngines/LinuxStandaloneSupport
--decode-folder=/home/cathy/Workspace/phy-robo-care/UnityProject/RCare2+Obi6/Library/Burst
--output=/home/cathy/Workspace/phy-robo-care/UnityProject/RCare2+Obi6/Temp/BurstOutput/Data/Plugins/lib_burst_generated
--pdb-search-paths=Temp/ManagedSymbols/

--method=Unity.Jobs.IJobParallelForExtensions+ParallelForJobStruct`1[[Unity.Barracuda.BurstCPUOps+ElementwiseMinJob_Full_Half, Unity.Barracuda, Version=3.0.0.0, Culture=neutral, PublicKeyToken=null]], UnityEngine.CoreModule, Version=0.0.0.0, Culture=neutral, PublicKeyToken=null::Execute(Unity.Barracuda.BurstCPUOps+ElementwiseMinJob_Full_Half&, Unity.Barracuda, Version=3.0.0.0, Culture=neutral, PublicKeyToken=null|System.IntPtr, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089|System.IntPtr, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089|Unity.Jobs.LowLevel.Unsafe.JobRanges&, UnityEngine.CoreModule, Version=0.0.0.0, Culture=neutral, PublicKeyToken=null|System.Int32, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089)--29c9a32da97e10019f953470978e130e
Expand Down Expand Up @@ -294,12 +291,11 @@ Library: F:\Code\UnityProject\RCare2+Obi6\Temp\BurstOutput\Data\Plugins\lib_burs
--dump=Function
--float-precision=Standard
--target-framework=NetFramework
--generate-link-xml=Temp\burst.link.xml
--temp-folder=F:\Code\UnityProject\RCare2+Obi6\Temp\Burst
--debug=LineOnly
--key-folder=F:/Code/Unity/2022.3.34f1/Editor/Data/PlaybackEngines/LinuxStandaloneSupport
--decode-folder=F:\Code\UnityProject\RCare2+Obi6\Library\Burst
--output=F:\Code\UnityProject\RCare2+Obi6\Temp\BurstOutput\Data\Plugins\lib_burst_generated
--generate-link-xml=Temp/burst.link.xml
--temp-folder=/home/cathy/Workspace/phy-robo-care/UnityProject/RCare2+Obi6/Temp/Burst
--key-folder=/home/cathy/Unity/Hub/Editor/2022.3.34f1/Editor/Data/PlaybackEngines/LinuxStandaloneSupport
--decode-folder=/home/cathy/Workspace/phy-robo-care/UnityProject/RCare2+Obi6/Library/Burst
--output=/home/cathy/Workspace/phy-robo-care/UnityProject/RCare2+Obi6/Temp/BurstOutput/Data/Plugins/lib_burst_generated
--pdb-search-paths=Temp/ManagedSymbols/

--method=Unity.Jobs.IJobParallelForExtensions+ParallelForJobStruct`1[[Unity.Barracuda.BurstCPUOps+ElementwiseMinJob_Full_Half, Unity.Barracuda, Version=3.0.0.0, Culture=neutral, PublicKeyToken=null]], UnityEngine.CoreModule, Version=0.0.0.0, Culture=neutral, PublicKeyToken=null::Execute(Unity.Barracuda.BurstCPUOps+ElementwiseMinJob_Full_Half&, Unity.Barracuda, Version=3.0.0.0, Culture=neutral, PublicKeyToken=null|System.IntPtr, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089|System.IntPtr, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089|Unity.Jobs.LowLevel.Unsafe.JobRanges&, UnityEngine.CoreModule, Version=0.0.0.0, Culture=neutral, PublicKeyToken=null|System.Int32, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089)--29c9a32da97e10019f953470978e130e
Expand Down Expand Up @@ -350,12 +346,11 @@ Library: F:\Code\UnityProject\RCare2+Obi6\Temp\BurstOutput\Data\Plugins\lib_burs
--float-precision=Low
--target-framework=NetFramework
--float-mode=Fast
--generate-link-xml=Temp\burst.link.xml
--temp-folder=F:\Code\UnityProject\RCare2+Obi6\Temp\Burst
--debug=LineOnly
--key-folder=F:/Code/Unity/2022.3.34f1/Editor/Data/PlaybackEngines/LinuxStandaloneSupport
--decode-folder=F:\Code\UnityProject\RCare2+Obi6\Library\Burst
--output=F:\Code\UnityProject\RCare2+Obi6\Temp\BurstOutput\Data\Plugins\lib_burst_generated
--generate-link-xml=Temp/burst.link.xml
--temp-folder=/home/cathy/Workspace/phy-robo-care/UnityProject/RCare2+Obi6/Temp/Burst
--key-folder=/home/cathy/Unity/Hub/Editor/2022.3.34f1/Editor/Data/PlaybackEngines/LinuxStandaloneSupport
--decode-folder=/home/cathy/Workspace/phy-robo-care/UnityProject/RCare2+Obi6/Library/Burst
--output=/home/cathy/Workspace/phy-robo-care/UnityProject/RCare2+Obi6/Temp/BurstOutput/Data/Plugins/lib_burst_generated
--pdb-search-paths=Temp/ManagedSymbols/

--method=Unity.Jobs.IJobParallelForExtensions+ParallelForJobStruct`1[[Unity.Barracuda.BurstCPUOps+ExpBiasReduceJob_Full_Half, Unity.Barracuda, Version=3.0.0.0, Culture=neutral, PublicKeyToken=null]], UnityEngine.CoreModule, Version=0.0.0.0, Culture=neutral, PublicKeyToken=null::Execute(Unity.Barracuda.BurstCPUOps+ExpBiasReduceJob_Full_Half&, Unity.Barracuda, Version=3.0.0.0, Culture=neutral, PublicKeyToken=null|System.IntPtr, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089|System.IntPtr, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089|Unity.Jobs.LowLevel.Unsafe.JobRanges&, UnityEngine.CoreModule, Version=0.0.0.0, Culture=neutral, PublicKeyToken=null|System.Int32, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089)--270ed1e9cc63181baf35e9074fbf6e3e
Expand Down Expand Up @@ -401,12 +396,11 @@ Library: F:\Code\UnityProject\RCare2+Obi6\Temp\BurstOutput\Data\Plugins\lib_burs
--float-precision=Low
--target-framework=NetFramework
--float-mode=Fast
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--decode-folder=F:\Code\UnityProject\RCare2+Obi6\Library\Burst
--output=F:\Code\UnityProject\RCare2+Obi6\Temp\BurstOutput\Data\Plugins\lib_burst_generated
--generate-link-xml=Temp/burst.link.xml
--temp-folder=/home/cathy/Workspace/phy-robo-care/UnityProject/RCare2+Obi6/Temp/Burst
--key-folder=/home/cathy/Unity/Hub/Editor/2022.3.34f1/Editor/Data/PlaybackEngines/LinuxStandaloneSupport
--decode-folder=/home/cathy/Workspace/phy-robo-care/UnityProject/RCare2+Obi6/Library/Burst
--output=/home/cathy/Workspace/phy-robo-care/UnityProject/RCare2+Obi6/Temp/BurstOutput/Data/Plugins/lib_burst_generated
--pdb-search-paths=Temp/ManagedSymbols/

--method=Unity.Jobs.IJobParallelForExtensions+ParallelForJobStruct`1[[Unity.Barracuda.BurstCPUOps+ExpBiasReduceJob_Full_Half, Unity.Barracuda, Version=3.0.0.0, Culture=neutral, PublicKeyToken=null]], UnityEngine.CoreModule, Version=0.0.0.0, Culture=neutral, PublicKeyToken=null::Execute(Unity.Barracuda.BurstCPUOps+ExpBiasReduceJob_Full_Half&, Unity.Barracuda, Version=3.0.0.0, Culture=neutral, PublicKeyToken=null|System.IntPtr, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089|System.IntPtr, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089|Unity.Jobs.LowLevel.Unsafe.JobRanges&, UnityEngine.CoreModule, Version=0.0.0.0, Culture=neutral, PublicKeyToken=null|System.Int32, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089)--270ed1e9cc63181baf35e9074fbf6e3e
Expand Down Expand Up @@ -451,12 +445,11 @@ Library: F:\Code\UnityProject\RCare2+Obi6\Temp\BurstOutput\Data\Plugins\lib_burs
--dump=Function
--float-precision=Standard
--target-framework=NetFramework
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--output=F:\Code\UnityProject\RCare2+Obi6\Temp\BurstOutput\Data\Plugins\lib_burst_generated
--generate-link-xml=Temp/burst.link.xml
--temp-folder=/home/cathy/Workspace/phy-robo-care/UnityProject/RCare2+Obi6/Temp/Burst
--key-folder=/home/cathy/Unity/Hub/Editor/2022.3.34f1/Editor/Data/PlaybackEngines/LinuxStandaloneSupport
--decode-folder=/home/cathy/Workspace/phy-robo-care/UnityProject/RCare2+Obi6/Library/Burst
--output=/home/cathy/Workspace/phy-robo-care/UnityProject/RCare2+Obi6/Temp/BurstOutput/Data/Plugins/lib_burst_generated
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--method=Unity.Burst.BurstCompiler+BurstCompilerHelper, Unity.Burst, Version=0.0.0.0, Culture=neutral, PublicKeyToken=null::IsBurstEnabled()--8c2be93e18276203cbd918daa2748a10
Expand Down Expand Up @@ -567,12 +560,11 @@ Library: F:\Code\UnityProject\RCare2+Obi6\Temp\BurstOutput\Data\Plugins\lib_burs
--dump=Function
--float-precision=Standard
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--debug=LineOnly
--key-folder=F:/Code/Unity/2022.3.34f1/Editor/Data/PlaybackEngines/LinuxStandaloneSupport
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--generate-link-xml=Temp/burst.link.xml
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--key-folder=/home/cathy/Unity/Hub/Editor/2022.3.34f1/Editor/Data/PlaybackEngines/LinuxStandaloneSupport
--decode-folder=/home/cathy/Workspace/phy-robo-care/UnityProject/RCare2+Obi6/Library/Burst
--output=/home/cathy/Workspace/phy-robo-care/UnityProject/RCare2+Obi6/Temp/BurstOutput/Data/Plugins/lib_burst_generated
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--method=Unity.Burst.BurstCompiler+BurstCompilerHelper, Unity.Burst, Version=0.0.0.0, Culture=neutral, PublicKeyToken=null::IsBurstEnabled()--8c2be93e18276203cbd918daa2748a10
Expand Down
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9 changes: 0 additions & 9 deletions template/Bathing/BathingPlayer_Data/StreamingAssets/aa/AddressablesLink/link.xml
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Expand Up @@ -158,25 +158,16 @@
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