Merge refined codebase from hackathon branch to main.

.github/workflows/pdoc_build.yaml

@@ -0,0 +1,49 @@
+name: Generate Documents with pdoc
+
+on:
+  push:
+    branches:
+      - main
+      - hackathon
+
+jobs:
+  setup-python:
+    name: Generate Documentations
+    runs-on: ubuntu-22.04
+    permissions:                # Job-level permissions configuration starts here
+        contents: write           # 'write' access to repository contents
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v3
+        with:
+            fetch-depth: 0  # Ensures history is available for pushing changes
+
+      - name: Set up Python
+        uses: actions/setup-python@v4
+        with:
+            python-version: '3.10'  # Set this to your Python version
+
+      - name: install-rcareworld
+        run: |
+            cd ./pyrcareworld
+            pip install -r requirements.txt
+            pip install -e .
+            cd ../
+
+      - name: Install pdoc
+        run: |
+            pip install pdoc3
+            pdoc --skip-errors --html pyrcareworld -o docs
+
+      - name: Commit Documentation
+        run: |
+            git config --local user.email "[email protected]"
+            git config --local user.name "GitHub Actions"
+            git add docs/*
+            git commit -m "Update documentation" || echo "No changes to commit"
+
+      - name: Push Changes
+        uses: ad-m/[email protected]
+        with:
+            github_token: ${{ secrets.GITHUB_TOKEN }}
+            branch: ${{ github.ref }}

.gitignore

@@ -5,10 +5,10 @@
 /[Ll]ibrary/
 /[Tt]emp/
 /[Oo]bj/
-/[Bb]uild/
-/[Bb]uilds/
 /[Ll]ogs/
 /[Uu]ser[Ss]ettings/
+/[Dd]oc/
+/[Dd]ocs/
 
 # MemoryCaptures can get excessive in size.
 # They also could contain extremely sensitive data

README.md

@@ -2,16 +2,107 @@
 
 # Here is the code for RCareWorld V1.0.0 🦾
 - Check the website https://emprise.cs.cornell.edu/rcareworld/
-- Check the documentation and tutorials
-  - [Full Install](https://sunny-building-1e7.notion.site/Full-install-RCareWorld-All-you-need-to-know-c5432d938f9545299f2b268373ec8abc?pvs=4)
-  - [Minimum install](https://sunny-building-1e7.notion.site/Prebuilt-RCareWorld-All-you-need-to-know-8081cfe25ac4446784f463bc25152dc8?pvs=4)
-- Discuss in the forum https://github.com/empriselab/RCareWorld/discussions
-- Watch our presentation https://www.youtube.com/watch?v=mNy1cloWrP0
-- Online OH calendar https://calendar.google.com/calendar/u/1?cid=Y18yODM5NTEwZDJjMjViOGQ1Njc4ZjAxNmI0NjYxYjQ5NDNhMjI1MTg1Y2Q4MGE1MGFhN2QwMDMyMDhkZjE5NWNmQGdyb3VwLmNhbGVuZGFyLmdvb2dsZS5jb20
-And book additional time slots: https://calendly.com/ruolinye
-
-# RCareWorld now available on pypi and docker
-https://pypi.org/project/pyrcareworld/1.0.0/
-Run `pip install pyrcareworld==1.0.0` to install from pypi
-
-https://hub.docker.com/repository/docker/cathyye2000/rcareworld/general The docker image for Python environment. Documents coming soon
+- Auto-generated APIs https://emprise.cs.cornell.edu/rcareworld-doc/
+
+We support Windows, Linux (Tested on Ubuntu), and MacOS. You need to make sure git and git-lfs are installed on your system. You should use Git Bash if you have it (else Powershell) for windows, 
+and use bash for Linux and MacOS. 
+
+Please make sure your computer has enough (at least 5GB) free space before starting.
+
+# Pre-Installation Guide
+
+## Installing Git and Git Large File Storage
+
+You can skip this step if you already have git and git-lfs installed on your system.
+
+### Windows
+Follow https://www.youtube.com/watch?v=JgOs70Y7jew for git installation on Windows.
+
+### Linux
+#### Fedora 
+Use `sudo dnf install git-all`
+#### Debian-Based Distribution (Ubuntu)
+Use `sudo apt install git-all`
+#### Other options
+Reference https://git-scm.com/download/linux
+
+### Mac
+Follow https://www.youtube.com/watch?v=Mf3l8z6oxQ0 for git installation on Mac.
+
+### Git Large File Storage
+Installation for git-lfs on all OS systems can be found here: https://docs.github.com/en/repositories/working-with-files/managing-large-files/installing-git-large-file-storage.
+
+## Cloning the Hackathon Repo
+
+Open up Terminal, Git Bash, or Powershell depending on the Operating System your computer is using.
+
+If you have ssh key setup on github use:
+`git clone [email protected]:empriselab/RCareWorld.git`
+
+otherwise,
+`git clone https://github.com/empriselab/RCareWorld.git`
+
+Navigate to the `RCareWorld` repository using the cd command.
+Example command: `cd RCareWorld`
+
+Checkout to the hackathon branch:
+`git checkout hackathon`
+
+Next, `git lfs pull`.
+
+Then navigate to `TestInstall` folder which is in `hackathon_demo` folder.
+
+You should expect to see `Linux.zip`, `Mac.zip`, and `Windows.zip` under `hackathon_demo/Build/TestInstall` folder. Unzip the one that matches your system.
+
+# Install Guide
+
+If you are preceeding immediately after the "Cloning the Hackathon Repo" step, navigate back to the RCareWorld directory.
+Example commands: `cd ~/RCareWorld`
+
+If you already have anaconda installed on your system, skip installing `install_conda`. 
+
+## Windows
+Run `install/Windows/install_conda.bat`, and then run `install/Windows/install_pyrcareworld.bat`.
+
+Example commands:
+`./install/Windows/install_pyrcareworld.bat`
+
+Note on Windows you may need to install Microsoft Visual C++ 14.0 or greater using Visual Studio Installer.
+If you are confused as to how to do this, reference this tutorial: https://www.youtube.com/watch?v=yBvxsw6OOw4.
+
+## Ubuntu
+Run `install/Ubuntu/install_conda.sh`, and then run `install/Ubuntu/install_pyrcareworld.sh`.
+
+Example commands:
+`bash install/Ubuntu/install_pyrcareworld.sh`
+
+## Mac
+Run `install/Mac/install_conda.sh`, and then run `install/Mac/install_pyrcareworld.sh`.
+
+Example commands:
+`bash install/Mac/install_pyrcareworld.sh`. 
+
+# Testing Installation
+Navigate to the `RCareWorld` folder and then to the `hackathon_demo` folder.
+
+Inside the `hackathon_demo` folder, you will find four files titled `test_install_linux.py`, `test_install_mac.py`, `test_install_mac_silicon.py`, and `test_install_windows.py`. In order to test installation, use the following commands: 
+
+First activate the conda environment: `conda activate rcareworld`.
+
+## Windows
+Run `python test_install_windows.py`.
+
+## Linux
+Run `python test_install_linux.py`.
+
+## Mac
+### Intel
+Run `python test_install_mac.py`.
+### Apple Silicon
+Run `python test_install_mac_silicon.py`.
+### Don't know if Intel or Apple Silicon
+It is necessary that you run the correct test. If you do not know whether you have Apple Silicon or Intel, please reference this site https://www.sweetwater.com/sweetcare/articles/intel-based-mac-or-mac-with-apple-silicon/.
+
+## Test Result
+If you have correctly installed based on the installation guide, then a Unity window should open up and the resulting image should appear.
+![alt text](Test_Install_Image.png)

hackathon_demo/.gitattributes

@@ -0,0 +1,2 @@
+Build filter=lfs diff=lfs merge=lfs -text
+*.zip filter=lfs diff=lfs merge=lfs -text

hackathon_demo/.gitignore

@@ -0,0 +1 @@
+!**/*.zip

hackathon_demo/test_bathing.py

@@ -0,0 +1,64 @@
+from pyrcareworld.envs import RCareWorld
+from pyrcareworld.attributes import sponge_attr
+import random
+
+# Script to test bed bathing in hackathon.
+if __name__ == "__main__":
+    # connect with the Unity environment
+    # Change the path to the Unity executable file
+    env = RCareWorld(
+        executable_file="<YOurPathHere>"
+    )
+
+    # A collection of all force readings over all steps.
+    all_nonzero_forces = []
+
+    # Create a robot and a target object
+    # Control the robot arm
+    robot = env.create_robot(
+        id=123456, gripper_list=[123456], robot_name="stretch3", base_pos=[0, 0, 0]
+    )
+    # Control the robot base
+    robot_base = env.create_robot(id = 12346, robot_name = 'mobile_base', base_pos = [0, 0, 1])
+    # The red cuba in the environment
+    target = env.create_object(id=2333, name="Cube", is_in_scene=True)
+    # Move the robot to the target object
+    for i in range(10):
+        position = target.getPosition()
+        # print(position)
+        robot.BioIKMove(position)
+        env.step()
+    # Move the robot base, don't move faster than this
+    for i in range(100):
+        position = robot_base.getRobotState()["position"]
+        position[2]+=0.004
+        print(position)
+        robot_base.setTransform(position)
+        env.step()
+    while True:
+        position = target.getPosition()
+        rotation = target.getRotation()
+        robot.directlyMoveTo(position)
+
+        # force on the sponge
+        forces = env.instance_channel.data[509]["forces"]
+        # painted area
+        prop = env.instance_channel.data[509]["proportion"]
+        msg = ""
+        if len(forces) > 0:
+            for force in forces:
+                all_nonzero_forces.append(force)
+
+            msg += (
+                "Forces Score: "
+                + str(sponge_attr.score_forces(all_nonzero_forces))
+                + "\n"
+            )
+
+        if prop != None:
+            msg += "Bathing Score: " + str(prop) + "\n"
+        if len(msg) > 0:
+            msg += "*************"
+            print(msg)
+
+        env.step()

hackathon_demo/test_camera_raw.py

@@ -0,0 +1,16 @@
+from pyrcareworld.envs import RCareWorld
+import cv2
+import numpy as np
+
+env = RCareWorld(executable_file="@Editor")
+
+
+env.instance_channel.set_action("GetRGB", id=654321, width=512, height=1024)
+info = env.instance_channel.data[654321]
+
+env.step()
+image_byte = env.instance_channel.data[654321]["rgb"]
+image_rgb = np.frombuffer(image_byte, dtype=np.uint8)
+image_rgb = cv2.imdecode(image_rgb, cv2.IMREAD_COLOR)
+cv2.imshow("show", image_rgb)
+cv2.waitKey(0)

hackathon_demo/test_camera_rcw.py

@@ -0,0 +1,11 @@
+from pyrcareworld.envs import RCareWorld
+import cv2
+import numpy as np
+
+env = RCareWorld(executable_file="@Editor")
+cam = env.create_camera(id=654321, name="Camera", width=512, height=1024, is_in_scene=True)
+image_rgb = cam.getRGB()
+image_rgb = cv2.imdecode(image_rgb, cv2.IMREAD_COLOR)
+cv2.imshow("show", image_rgb)
+cv2.waitKey(0)
+