empriselab · YoruCathy · Aug 9, 2024 · Aug 9, 2024 · Aug 9, 2024 · Aug 9, 2024
diff --git a/.gitattributes b/.gitattributes
@@ -0,0 +1,9 @@
+.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
+*.zip filter=lfs diff=lfs merge=lfs -text
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -0,0 +1,46 @@
+name: CI Checks
+
+on: [pull_request]
+
+jobs:
+  unit-tests:
+    name: Unit Tests
+    runs-on: "ubuntu-20.04"
+    env:
+      PYTHONUNBUFFERED: 1
+    defaults:
+      run:
+        shell: bash -el {0}
+    steps:
+      - name: Checkout RCareWorld repository
+        uses: actions/checkout@v4
+        with:
+          lfs: true 
+
+      - name: Set up Git LFS
+        run: git lfs install
+
+      - name: Pull LFS Files
+        run: git lfs pull
+
+      - uses: conda-incubator/setup-miniconda@v3
+        with:
+          activate-environment: rcareworld
+          python-version: "3.10"
+      - name: Install dependencies
+        run: |
+          cd pyrcareworld
+          pip install -r requirements.txt
+          pip install -e .
+          pip uninstall -y numpy
+          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
+          sudo apt-get install libminizip1
+
+      - name: Run unit tests
+        run: |
+          echo "::group::Running tests"
+          pytest --capture=tee-sys tests/
+          echo "::endgroup::"    
diff --git a/.gitignore b/.gitignore
@@ -7,8 +7,8 @@
 /[Oo]bj/
 /[Ll]ogs/
 /[Uu]ser[Ss]ettings/
-/[Dd]oc/
-/[Dd]ocs/
+# /[Dd]oc/
+# /[Dd]ocs/
 
 # MemoryCaptures can get excessive in size.
 # They also could contain extremely sensitive data
@@ -77,12 +77,11 @@ __pycache__/
 *.py[cod]
 *$py.class
 
-# C extensions
-*.so
+# # C extensions *.so
 
 # Distribution / packaging
 .Python
-build/
+# build/
 develop-eggs/
 dist/
 downloads/
@@ -143,7 +142,7 @@ instance/
 .scrapy
 
 # Sphinx documentation
-docs/_build/
+# docs/_build/
 
 # PyBuilder
 .pybuilder/
@@ -234,4 +233,12 @@ cython_debug/
 .idea/
 
 # Mac
-.DS_Store
+.DS_Store
+
+#Docker-build
+/template/docker-template/*.zip
+/template/docker-template/*.tar
+/template/docker-template/output
+template/rgb_hand.png
+template/rgb_hand.png
+pyrcareworld/pyrcareworld/demo/examples/example_save_obj.py
diff --git a/.readthedocs.yaml b/.readthedocs.yaml
@@ -0,0 +1,57 @@
+# .readthedocs.yaml
+# Read the Docs configuration file
+# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details
+
+# Required
+version: 2
+
+# Set the OS, Python version and other tools you might need
+build:
+  os: ubuntu-22.04
+  tools:
+    python: "3.12"
+    # You can also specify other tool versions:
+    # nodejs: "19"
+    # rust: "1.64"
+    # golang: "1.19"
+  jobs:
+    pre_install:
+          # Clone the repository
+      - git clone https://github.com/empriselab/RCareWorld.git
+      - ls
+      # Navigate into the directory
+      - cd RCareWorld/pyrcareworld/ && ls
+      # Install Python dependencies from requirements.txt
+      - pip install -r RCareWorld/pyrcareworld/requirements.txt
+      # Install the package in editable mode
+      - cd RCareWorld/pyrcareworld/ && pip install -e .
+      # Install additional requirements for docs
+      - pip install -r docs/requirements.txt
+      - cd ../..
+      - ls
+
+    post_install:
+      - sphinx-apidoc -o ./docs/api ./pyrcareworld ./pyrcareworld/pyrcareworld/demo/*
+
+# Build documentation in the "docs/" directory with Sphinx
+sphinx:
+  configuration: docs/conf.py
+
+# Optionally build your docs in additional formats such as PDF and ePub
+formats:
+   - pdf
+   - epub
+
+# Optional but recommended, declare the Python requirements required
+# to build your documentation
+# See https://docs.readthedocs.io/en/stable/guides/reproducible-builds.html
+# python:
+#    install:
+#    - method: pip
+#      path: .
+#    - requirements: docs/requirements.txt
+
+# branches:
+#   only:
+#     - main
+#     - stable
diff --git a/README.md b/README.md
@@ -1,15 +1,132 @@
 ![alt text](rcareworld.png)
-# Here is the code for RCareWorld V1.5.0 🦾
-## Install
-The installation is as easy as
-- Create a conda env: `conda create -n rcareworld python=3.10`
-- Navigate to `pyrcareworld` folder: `cd pyrcareworld`
-- Install the requirements: `pip install -r requirements.txt`
-- Install pyrcareworld module: `pip install -e .`
-## Useful links
-- Check the website https://emprise.cs.cornell.edu/rcareworld/
-- Check the documentation: https://rcareworld.readthedocs.io/en/latest/
-- Discuss in the forum https://github.com/empriselab/RCareWorld/discussions
-- Watch our presentation https://www.youtube.com/watch?v=mNy1cloWrP0
-# Please refer to the [phy-robo-care](https://github.com/empriselab/RCareWorld/tree/phy-robo-care) branch if you are participating in the [PhyRC Challenge](https://emprise.cs.cornell.edu/rcareworld/challenge/).
+# Here is the code for RCareWorld PhyRC Challenge 🦾
+This README contains instructions for installing the PhyRC version of RCareWorld. In addition to this README, please refer to the following links:
 
+- Website https://emprise.cs.cornell.edu/rcareworld/
+- Documentation: https://rcareworld.readthedocs.io/en/phy-robo-care/ Please only refer to this document if you are participating in the PhyRC challenge. Please don't use the links in the main branch. 
+- Discussion Forum: https://github.com/empriselab/RCareWorld/discussions
+
+
+# Hardware Requirements
+While RCareWorld supports Linux, Windows, and Mac (experimental), our evaluation platform is based on Ubuntu 20.04. We do not guarantee the simulation environments for the competition work on MacOS, Windows, or other Linux versions as intended. The executable files are only for Linux systems. If you want to use Windows, you might consider using [WSL](https://learn.microsoft.com/en-us/windows/wsl/install) which ideally has the same functionality as Ubuntu.
+
+We highly recommend using an Ubuntu 20.04 system which will be used for evaluation. For this competition, all tutorials are based on the Ubuntu system.
+
+Please ensure your computer has at least 10GB of free space before starting. One or multiple discrete graphics cards with proper drivers are highly recommended, without which the simulation will be slow.
+
+# Install Guide
+## Pre-install Guide
+Before starting, make sure Conda is installed on your computer.
+For details, refer to the Conda installation guide: [Conda Installation Guide](https://docs.conda.io/projects/conda/en/latest/user-guide/install/index.html).
+
+If you have an NVIDIA GPU, install an NVIDIA Driver from the official [NVIDIA Driver Downloads](https://www.nvidia.com/Download/index.aspx).
+
+Install the necessary libraries:
+```
+sudo apt-get update
+sudo apt-get install libminizip1
+sudo apt-get install libassimp-dev libopenblas-dev liblapack-dev
+```
+
+## Install RCareWorld
+Then you can install the RCareWorld!
+
+<!-- - Clone the repo: `git clone https://github.com/empriselab/RCareWorld.git`
+- Switch to the `phy-robo-care` branch: `cd RCareWorld` and then `git checkout phy-robo-care ` -->
+Clone the `phy-robo-care` branch of the repo: 
+
+`git clone -b phy-robo-care https://github.com/empriselab/RCareWorld.git`
+
+<!-- - Create a conda environment with Python 3.10: `conda create -n rcareworld python=3.10`
+- Activate the conda environment: `conda activate rcareworld`
+- Install the requirements: `cd pyrcareworld` and then `pip install -r requirements.txt`
+- Install pyrcareworld: `pip install -e .`
+- Verify the installation works: `cd pyrcareworld/demo/examples` and run `python test_scene.py`. You should expect to see the RCareWorld Unity executable window pop up with a white cube. -->
+
+```
+# Create a conda environment with Python 3.10
+conda create -n rcareworld python=3.10
+
+# Activate the conda environment 
+conda activate rcareworld
+
+# Download the large files
+cd RCareWorld
+git lfs install
+git lfs pull
+
+# Install the requirements
+cd RCareWorld/pyrcareworld
+pip install -r requirements.txt
+pip install -e .
+
+# To use open3d
+pip uninstall numpy
+conda install numpy
+
+# Verify the installation works
+cd pyrcareworld/demo/examples
+python test_scene.py
+
+```
+A window with white cubes will pop up as the screenshot shows. This indicates the installation is successful.
+
+You can perform common Unity operations in this window:
+- `WSAD` to navigate
+- `CTRL` to ascend 
+- `Space` to descend 
+- `Right Click` to pan
+- `End Pend` allows you to perform special operations; refer to the code for details. Clicking three times will close the window, but you can also manually cancel in the code
+- `Scroll` wheel direction is **opposite** to the direction in the DebugWindow
+
+
+![test_scene_py_img](./test_scene.png)
+
+
+## (Optional): OMPL Installation
+
+The Open Motion Planning Library (OMPL) is a flexible, open-source library designed for solving complex motion planning problems for robots and other autonomous systems using state-of-the-art planning algorithms. It is an optional function that will not affect your regular use if not installed.
+
+If you would like to install OMPL, and you've never installed it before, please run the following command:
+
+```
+python3 -m pip install https://github.com/ompl/ompl/releases/download/prerelease/ompl-1.6.0-cp310-cp310-manylinux_2_28_x86_64.whl
+```
+
+Otherwise, make sure you install the python bindings for your current OMPL version.
+
+If that command doesn't work for you, please go to the OMPL Releases page and find the corresponding python version you are using (the above is for python 3.10).
+
+# Get Started with the Examples
+Check the examples in the `pyrcareworld/pyrcareworld/demo/examples` folder. 
+
+Go through the examples, run the examples, and read the comments in the code to understand the corresponding output and related APIs. 
+
+Specifically, we have examples for people interested in performing traditional motion planning using OMPL as well as reinforcement learning using Gym.
+- Motion planning: https://github.com/empriselab/RCareWorld/blob/phy-robo-care/pyrcareworld/pyrcareworld/demo/examples/example_ompl.py
+- RL: https://github.com/empriselab/RCareWorld/blob/phy-robo-care/pyrcareworld/pyrcareworld/demo/examples/example_rl.py
+
+# Starter Scripts for Bathing and Dressing Tasks
+Check out `RCareWorld/template/test_bathing.py` and `RCareWorld/template/test_dressing.py` to get an overall idea about how to use the simulation environments for the dressing and bathing tasks. 
+
+These two files are without graphics rendering to make them compatible with the docker environment. If you want to use them with rendering in your local environment, add the `--graphics` when you run the code.
+```
+# An example is as the following.
+# For docker
+python test_bathing.py
+# For local use with rendering
+python test_bathing.py --graphics
+```
+You can also test `test_dressing.py` in the same way, but please note that the **dressing scene will occupy more memory**. 
+
+Please ensure that your computer has sufficient memory, or close unnecessary running programs in advance to improve the frame rate during execution!
+
+
+
+Your scores will be stored in two JSON files, called `spongeScore.json` for bathing and `dressingScore.json` for dressing both under `~/.config/unity3d/RCareWorld/DressingPlayer/`.
+
+# Submit to EvalAI
+Once you are done with your solutions, submit your code to EvalAI following [this](https://rcareworld.readthedocs.io/en/phy-robo-care/submission.html) tutorial. Remember, you need to sign up as a team on EvalAI before Sep 8 (11:59pm AoE) to participate.
+
+# Online Office Hours
+Book an appointment [here](https://calendar.google.com/calendar/u/0/appointments/schedules/AcZssZ0t_n2vlbhIcJTSNv0NY7_Z_Y3j2g5EsL0cKIgsB1phr07oFP9kA50c5WeS0Annn4H6sVexYWt1?gv=true). You may book multiple slots if your question is estimated to take more than 5 minutes, but do not book more than 4 slots per day. You may book the appointments 2 hours in advance.
diff --git a/amodal_mask.png b/amodal_mask.png
diff --git a/depth.png b/depth.png
diff --git a/docs/Makefile b/docs/Makefile
@@ -0,0 +1,31 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS    ?=
+SPHINXBUILD   ?= sphinx-build
+SPHINXAPIDOC  ?= sphinx-apidoc
+SOURCEDIR     = .
+BUILDDIR      = _build
+CODEDIR       = ./code
+APIDOCOUTPUT  = $(SOURCEDIR)/api
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile apidoc html
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+# Generate API documentation
+apidoc:
+	@$(SPHINXAPIDOC) -o "$(APIDOCOUTPUT)" "$(CODEDIR)"
+
+# Build HTML documentation
+html: apidoc
+	@$(SPHINXBUILD) -b html "$(SOURCEDIR)" "$(BUILDDIR)/html" $(SPHINXOPTS)
diff --git a/docs/_build/doctrees/api/code.doctree b/docs/_build/doctrees/api/code.doctree
diff --git a/docs/_build/doctrees/api/code.test4.doctree b/docs/_build/doctrees/api/code.test4.doctree
diff --git a/docs/_build/doctrees/api/modules.doctree b/docs/_build/doctrees/api/modules.doctree
diff --git a/docs/_build/doctrees/api/test.doctree b/docs/_build/doctrees/api/test.doctree
diff --git a/docs/_build/doctrees/api/test2.doctree b/docs/_build/doctrees/api/test2.doctree
diff --git a/docs/_build/doctrees/docs/api/modules.doctree b/docs/_build/doctrees/docs/api/modules.doctree
diff --git a/docs/_build/doctrees/docs/api/test.doctree b/docs/_build/doctrees/docs/api/test.doctree
diff --git a/docs/_build/doctrees/environment.pickle b/docs/_build/doctrees/environment.pickle
diff --git a/docs/_build/doctrees/index.doctree b/docs/_build/doctrees/index.doctree
diff --git a/docs/_build/doctrees/install.doctree b/docs/_build/doctrees/install.doctree
diff --git a/docs/_build/doctrees/test/examples.doctree b/docs/_build/doctrees/test/examples.doctree
diff --git a/docs/_build/html/.buildinfo b/docs/_build/html/.buildinfo
@@ -0,0 +1,4 @@
+# Sphinx build info version 1
+# This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
+config: 15acfb2470085b973ea28f321b8ada2d
+tags: 645f666f9bcd5a90fca523b33c5a78b7
diff --git a/docs/_build/html/.nojekyll b/docs/_build/html/.nojekyll