OMPL fix

.gitattributes

@@ -1,6 +1,8 @@
 .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
 template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/user_assets_all_8a7e8c517c5bd193b6a83d9a3d7b4a7a.bundle filter=lfs diff=lfs merge=lfs -text
+pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/StreamingAssets/aa/StandaloneLinux64/user_assets_all_f357883c84a80231486b0404b1dc2f9f.bundle filter=lfs diff=lfs merge=lfs -text
+pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/StreamingAssets/aa/StandaloneLinux64/robot_assets_all_603be05fcb8dffa1ad805fc756b51160.bundle filter=lfs diff=lfs merge=lfs -text
 template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/user_assets_all_752a0ed37435299b38372bf214d395b3.bundle filter=lfs diff=lfs merge=lfs -text
 template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/user_assets_all_2308b64dbb01817506c542159ebf007a.bundle filter=lfs diff=lfs merge=lfs -text
 template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/*.bundle filter=lfs diff=lfs merge=lfs -text

.github/workflows/ci.yml

@@ -36,9 +36,10 @@ jobs:
           conda install numpy
           cd ../
 
+          python3 -m pip install https://github.com/ompl/ompl/releases/download/prerelease/ompl-1.6.0-cp310-cp310-manylinux_2_28_x86_64.whl
+
       - name: Run unit tests
         run: |
           echo "::group::Running tests"
           pytest --capture=tee-sys tests/
-          echo "::endgroup::"
-
+          echo "::endgroup::"    

pyrcareworld/pyrcareworld/attributes/__init__.py

@@ -22,7 +22,7 @@
 from pyrcareworld.attributes.bathing_score_attr import BathingScoreAttr
 from pyrcareworld.attributes.dressing_score_attr import DressingScoreAttr
 from pyrcareworld.attributes.sponge_attr import SpongeAttr
-# from pyrcareworld.attributes.omplmanager_attr import OMPLManagerAttr
+from pyrcareworld.attributes.omplmanager_attr import OmplManagerAttr
 from pyrcareworld.attributes.sponge_score_attr import SpongeScoreAttr
 
 
@@ -50,5 +50,5 @@
 "DressingScoreAttr": DressingScoreAttr,
 "SpongeAttr": SpongeAttr,
 "PersonRandomizerAttr": PersonRandomizerAttr,
-# "OMPLManagerAttr": OMPLManagerAttr
+"OmplManagerAttr": OmplManagerAttr
 }

pyrcareworld/pyrcareworld/demo/examples/example_ompl.py

@@ -34,7 +34,7 @@
 # Initialize the environment with the specified scene file
 player_path = os.path.join(executable_path, "../executable/Player/Player.x86_64")
 
-env = RCareWorld(assets=["franka_panda", "Collider_Box", "OmplManager"], executable_file=player_path)
+env = RCareWorld(assets=["franka_panda", "Collider_Box", "OmplManager"], executable_file="@editor")
 robot = env.InstanceObject(
     name="franka_panda", id=123456, attr_type=attr.ControllerAttr
 )

pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/RuntimeInitializeOnLoads.json

@@ -1 +1 @@
-{"root":[{"assemblyName":"Obi","nameSpace":"","className":"__JobReflectionRegistrationOutput__13069050244643737771","methodName":"EarlyInit","loadTypes":2,"isUnityClass":false},{"assemblyName":"TriLibCore.Scripts","nameSpace":"TriLibCore","className":"RuntimeInitialization","methodName":"Initialize","loadTypes":0,"isUnityClass":false},{"assemblyName":"Unity.Barracuda","nameSpace":"","className":"__JobReflectionRegistrationOutput__18154691094621979956","methodName":"EarlyInit","loadTypes":2,"isUnityClass":true},{"assemblyName":"Unity.Collections","nameSpace":"","className":"__JobReflectionRegistrationOutput__1652832624114795843","methodName":"EarlyInit","loadTypes":2,"isUnityClass":true},{"assemblyName":"Unity.Collections","nameSpace":"","className":"$BurstDirectCallInitializer","methodName":"Initialize","loadTypes":2,"isUnityClass":true},{"assemblyName":"Unity.MemoryProfiler","nameSpace":"Unity.MemoryProfiler","className":"MetadataInjector","methodName":"PlayerInitMetadata","loadTypes":3,"isUnityClass":true},{"assemblyName":"Unity.RenderPipelines.Core.Runtime","nameSpace":"UnityEngine.Experimental.Rendering","className":"XRSystem","methodName":"XRSystemInit","loadTypes":3,"isUnityClass":true},{"assemblyName":"Unity.RenderPipelines.Core.Runtime","nameSpace":"UnityEngine.Rendering","className":"DebugUpdater","methodName":"RuntimeInit","loadTypes":0,"isUnityClass":true},{"assemblyName":"Unity.ResourceManager","nameSpace":"UnityEngine.ResourceManagement.ResourceProviders","className":"AssetBundleProvider","methodName":"Init","loadTypes":4,"isUnityClass":true},{"assemblyName":"Unity.Robotics.UrdfImporter","nameSpace":"Assimp","className":"AssimpUnity","methodName":"InitializePlugin","loadTypes":1,"isUnityClass":true}]}
+{"root":[{"assemblyName":"Obi","nameSpace":"","className":"__JobReflectionRegistrationOutput__13069050244643737771","methodName":"EarlyInit","loadTypes":2,"isUnityClass":false},{"assemblyName":"TriLibCore.Scripts","nameSpace":"TriLibCore","className":"RuntimeInitialization","methodName":"Initialize","loadTypes":0,"isUnityClass":false},{"assemblyName":"Unity.Barracuda","nameSpace":"","className":"__JobReflectionRegistrationOutput__18154691094621979956","methodName":"EarlyInit","loadTypes":2,"isUnityClass":true},{"assemblyName":"Unity.Collections","nameSpace":"","className":"__JobReflectionRegistrationOutput__1652832624114795843","methodName":"EarlyInit","loadTypes":2,"isUnityClass":true},{"assemblyName":"Unity.Collections","nameSpace":"","className":"$BurstDirectCallInitializer","methodName":"Initialize","loadTypes":2,"isUnityClass":true},{"assemblyName":"Unity.MemoryProfiler","nameSpace":"Unity.MemoryProfiler","className":"MetadataInjector","methodName":"PlayerInitMetadata","loadTypes":3,"isUnityClass":true},{"assemblyName":"Unity.RenderPipelines.Core.Runtime","nameSpace":"UnityEngine.Experimental.Rendering","className":"XRSystem","methodName":"XRSystemInit","loadTypes":3,"isUnityClass":true},{"assemblyName":"Unity.RenderPipelines.Core.Runtime","nameSpace":"UnityEngine.Rendering","className":"DebugUpdater","methodName":"RuntimeInit","loadTypes":0,"isUnityClass":true},{"assemblyName":"Unity.ResourceManager","nameSpace":"UnityEngine.ResourceManagement.ResourceProviders","className":"AssetBundleProvider","methodName":"Init","loadTypes":4,"isUnityClass":true},{"assemblyName":"Unity.Robotics.UrdfImporter","nameSpace":"Assimp","className":"AssimpUnity","methodName":"InitializePlugin","loadTypes":1,"isUnityClass":true}]}

pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/ScriptingAssemblies.json

@@ -1 +1 @@
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+{"names":["UnityEngine.dll","UnityEngine.AIModule.dll","UnityEngine.AccessibilityModule.dll","UnityEngine.AndroidJNIModule.dll","UnityEngine.AnimationModule.dll","UnityEngine.AssetBundleModule.dll","UnityEngine.AudioModule.dll","UnityEngine.ClothModule.dll","UnityEngine.ClusterInputModule.dll","UnityEngine.ClusterRendererModule.dll","UnityEngine.ContentLoadModule.dll","UnityEngine.CoreModule.dll","UnityEngine.CrashReportingModule.dll","UnityEngine.DSPGraphModule.dll","UnityEngine.DirectorModule.dll","UnityEngine.GIModule.dll","UnityEngine.GameCenterModule.dll","UnityEngine.GridModule.dll","UnityEngine.HotReloadModule.dll","UnityEngine.IMGUIModule.dll","UnityEngine.ImageConversionModule.dll","UnityEngine.InputModule.dll","UnityEngine.InputLegacyModule.dll","UnityEngine.JSONSerializeModule.dll","UnityEngine.LocalizationModule.dll","UnityEngine.ParticleSystemModule.dll","UnityEngine.PerformanceReportingModule.dll","UnityEngine.PhysicsModule.dll","UnityEngine.Physics2DModule.dll","UnityEngine.ProfilerModule.dll","UnityEngine.PropertiesModule.dll","UnityEngine.RuntimeInitializeOnLoadManagerInitializerModule.dll","UnityEngine.ScreenCaptureModule.dll","UnityEngine.SharedInternalsModule.dll","UnityEngine.SpriteMaskModule.dll","UnityEngine.SpriteShapeModule.dll","UnityEngine.StreamingModule.dll","UnityEngine.SubstanceModule.dll","UnityEngine.SubsystemsModule.dll","UnityEngine.TLSModule.dll","UnityEngine.TerrainModule.dll","UnityEngine.TerrainPhysicsModule.dll","UnityEngine.TextCoreFontEngineModule.dll","UnityEngine.TextCoreTextEngineModule.dll","UnityEngine.TextRenderingModule.dll","UnityEngine.TilemapModule.dll","UnityEngine.UIModule.dll","UnityEngine.UIElementsModule.dll","UnityEngine.UmbraModule.dll","UnityEngine.UnityAnalyticsModule.dll","UnityEngine.UnityAnalyticsCommonModule.dll","UnityEngine.UnityConnectModule.dll","UnityEngine.UnityCurlModule.dll","UnityEngine.UnityTestProtocolModule.dll","UnityEngine.UnityWebRequestModule.dll","UnityEngine.UnityWebRequestAssetBundleModule.dll","UnityEngine.UnityWebRequestAudioModule.dll","UnityEngine.UnityWebRequestTextureModule.dll","UnityEngine.UnityWebRequestWWWModule.dll","UnityEngine.VFXModule.dll","UnityEngine.VRModule.dll","UnityEngine.VehiclesModule.dll","UnityEngine.VideoModule.dll","UnityEngine.VirtualTexturingModule.dll","UnityEngine.WindModule.dll","UnityEngine.XRModule.dll","Assembly-CSharp.dll","RCareWorld.dll","vhacd.dll","Unity.RenderPipelines.Core.Runtime.dll","Pcx.dll","Unity.ResourceManager.dll","Unity.ScriptableBuildPipeline.dll","Obi.dll","Unity.Robotics.UrdfImporter.dll","Unity.Formats.Fbx.Runtime.dll","Unity.RenderPipelines.Core.ShaderLibrary.dll","Unity.Collections.dll","Unity.TextMeshPro.dll","Unity.Recorder.dll","FbxBuildTestAssets.dll","Unity.Profiling.Core.dll","Unity.MemoryProfiler.dll","Unity.RenderPipelines.ShaderGraph.ShaderGraphLibrary.dll","BioIK.dll","Unity.Burst.dll","Unity.Barracuda.ONNX.dll","InkPainter.dll","CoACD.dll","Unity.Recorder.Base.dll","UnityEngine.UI.dll","Unity.Barracuda.dll","Unity.Barracuda.BurstBLAS.dll","Mujoco.Runtime.dll","Unity.Timeline.dll","Autodesk.Fbx.dll","Unity.Mathematics.dll","TriLibCore.Scripts.dll","Unity.Addressables.dll","TriLibCore.Textures.dll","LibTessDotNet.dll","TriLibCore.HDRLoader.dll","TriLibCore.Dae.dll","Unity.Collections.LowLevel.ILSupport.dll","IxMilia.ThreeMf.dll","DemiLib.dll","TriLibCore.Obj.dll","TriLibCore.Stl.dll","Grpc.Core.dll","TriLibCore.Fbx.dll","Google.Protobuf.dll","Unity.Burst.Unsafe.dll","TriLibCore.Gltf.dll","DOTweenPro.dll","System.Runtime.CompilerServices.Unsafe.dll","StbImageSharp.dll","Newtonsoft.Json.dll","DOTween.dll","TriLibCore.ThreeMf.dll","TriLibCore.Gltf.Draco.dll","Grpc.Core.Api.dll","TriLibCore.Ply.dll","AssimpNet.dll","ICSharpCode.SharpZipLib.dll","TriLibCore.dll"],"types":[2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16]}

pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/StreamingAssets/DigitConfig.xml

@@ -1,120 +1,120 @@
-<?xml version="1.0" encoding="utf-8"?>
-<DigitConfig xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
-  <cameraConfig>
-    <position>
-      <x>0</x>
-      <y>0</y>
-      <z>0.015</z>
-    </position>
-    <rotation>
-      <x>-90</x>
-      <y>180</y>
-      <z>0</z>
-    </rotation>
-    <fov>60</fov>
-    <nearPlane>0.01</nearPlane>
-  </cameraConfig>
-  <gelConfig>
-    <position>
-      <x>0</x>
-      <y>0.022</y>
-      <z>0.015</z>
-    </position>
-    <width>0.024</width>
-    <height>0.032</height>
-    <curvature>true</curvature>
-    <curvatureMax>0.003</curvatureMax>
-    <r>0.1</r>
-    <meshVerticesCountW>100</meshVerticesCountW>
-    <resolutionW>240</resolutionW>
-  </gelConfig>
-  <lightConfig>
-    <centerPosition>
-      <x>0</x>
-      <y>0.01</y>
-      <z>0.016</z>
-    </centerPosition>
-    <spot>true</spot>
-    <spotAngle>
-      <float>60</float>
-      <float>60</float>
-      <float>80</float>
-    </spotAngle>
-    <polar>false</polar>
-    <cartesianPosition>
-      <Vector3>
-        <x>-0.01</x>
-        <y>0</y>
-        <z>0.01</z>
-      </Vector3>
-      <Vector3>
-        <x>0.01</x>
-        <y>0</y>
-        <z>0.01</z>
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-      <Vector3>
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-        <x>-19.5</x>
-        <y>120</y>
-        <z>0</z>
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-      <Vector3>
-        <x>-19.5</x>
-        <y>-120</y>
-        <z>0</z>
-      </Vector3>
-      <Vector3>
-        <x>-5</x>
-        <y>0</y>
-        <z>0</z>
-      </Vector3>
-    </cartesianRotaiton>
-    <polarDistance>
-      <float>0.02</float>
-      <float>0.02</float>
-      <float>0.02</float>
-    </polarDistance>
-    <polarAngle>
-      <float>210</float>
-      <float>330</float>
-      <float>90</float>
-    </polarAngle>
-    <color>
-      <Color>
-        <r>1</r>
-        <g>0</g>
-        <b>0</b>
-        <a>1</a>
-      </Color>
-      <Color>
-        <r>0</r>
-        <g>1</g>
-        <b>0</b>
-        <a>1</a>
-      </Color>
-      <Color>
-        <r>0</r>
-        <g>0.5</g>
-        <b>1</b>
-        <a>1</a>
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-    </color>
-    <intensity>
-      <float>1.8</float>
-      <float>1.8</float>
-      <float>1.5</float>
-    </intensity>
-  </lightConfig>
-  <forceConfig>
-    <enable>true</enable>
-    <minForce>0</minForce>
-    <maxForce>0.05</maxForce>
-    <maxDeformation>0.005</maxDeformation>
-  </forceConfig>
+<?xml version="1.0" encoding="utf-8"?>
+<DigitConfig xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <cameraConfig>
+    <position>
+      <x>0</x>
+      <y>0</y>
+      <z>0.015</z>
+    </position>
+    <rotation>
+      <x>-90</x>
+      <y>180</y>
+      <z>0</z>
+    </rotation>
+    <fov>60</fov>
+    <nearPlane>0.01</nearPlane>
+  </cameraConfig>
+  <gelConfig>
+    <position>
+      <x>0</x>
+      <y>0.022</y>
+      <z>0.015</z>
+    </position>
+    <width>0.024</width>
+    <height>0.032</height>
+    <curvature>true</curvature>
+    <curvatureMax>0.003</curvatureMax>
+    <r>0.1</r>
+    <meshVerticesCountW>100</meshVerticesCountW>
+    <resolutionW>240</resolutionW>
+  </gelConfig>
+  <lightConfig>
+    <centerPosition>
+      <x>0</x>
+      <y>0.01</y>
+      <z>0.016</z>
+    </centerPosition>
+    <spot>true</spot>
+    <spotAngle>
+      <float>60</float>
+      <float>60</float>
+      <float>80</float>
+    </spotAngle>
+    <polar>false</polar>
+    <cartesianPosition>
+      <Vector3>
+        <x>-0.01</x>
+        <y>0</y>
+        <z>0.01</z>
+      </Vector3>
+      <Vector3>
+        <x>0.01</x>
+        <y>0</y>
+        <z>0.01</z>
+      </Vector3>
+      <Vector3>
+        <x>0</x>
+        <y>0</y>
+        <z>-0.015</z>
+      </Vector3>
+    </cartesianPosition>
+    <cartesianRotaiton>
+      <Vector3>
+        <x>-19.5</x>
+        <y>120</y>
+        <z>0</z>
+      </Vector3>
+      <Vector3>
+        <x>-19.5</x>
+        <y>-120</y>
+        <z>0</z>
+      </Vector3>
+      <Vector3>
+        <x>-5</x>
+        <y>0</y>
+        <z>0</z>
+      </Vector3>
+    </cartesianRotaiton>
+    <polarDistance>
+      <float>0.02</float>
+      <float>0.02</float>
+      <float>0.02</float>
+    </polarDistance>
+    <polarAngle>
+      <float>210</float>
+      <float>330</float>
+      <float>90</float>
+    </polarAngle>
+    <color>
+      <Color>
+        <r>1</r>
+        <g>0</g>
+        <b>0</b>
+        <a>1</a>
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+      <Color>
+        <r>0</r>
+        <g>1</g>
+        <b>0</b>
+        <a>1</a>
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+      <Color>
+        <r>0</r>
+        <g>0.5</g>
+        <b>1</b>
+        <a>1</a>
+      </Color>
+    </color>
+    <intensity>
+      <float>1.8</float>
+      <float>1.8</float>
+      <float>1.5</float>
+    </intensity>
+  </lightConfig>
+  <forceConfig>
+    <enable>true</enable>
+    <minForce>0</minForce>
+    <maxForce>0.05</maxForce>
+    <maxDeformation>0.005</maxDeformation>
+  </forceConfig>
 </DigitConfig>