nothing

Author: Pakwa-github

Env/Camera/Camera.py

@@ -7,7 +7,7 @@
 from isaacsim import SimulationApp
 import torch
 import sys
-sys.path.append("/home/luhr/Tactile/IsaacTac/")
+# sys.path.append("/home/luhr/Tactile/IsaacTac/")
 import open3d as o3d
 from omni.isaac.core import World
 from omni.isaac.core.utils.prims import is_prim_path_valid

Env/Config/DeformableConfig.py

@@ -2,7 +2,7 @@
 import torch
 
 class DeformableConfig:
-    def __init__(self,usd_path:str="/home/pakwa/GarmentLab/Assets/Garment/Hat/HA_Hat007/HA_Hat007_obj.usd",pos:np.ndarray=None,ori:np.ndarray=None,scale:np.ndarray=None,visual_material_usd:str="/home/pakwa/GarmentLab/Assets/Material/linen_Pumpkin.usd",youngs_modulus:float=None):
+    def __init__(self,usd_path:str="/home/pakwa/GPs/GarmentLab/Assets/Garment/Hat/HA_Hat007/HA_Hat007_obj.usd",pos:np.ndarray=None,ori:np.ndarray=None,scale:np.ndarray=None,visual_material_usd:str="/home/pakwa/GPs/GarmentLab/Assets/Material/linen_Pumpkin.usd",youngs_modulus:float=None):
         if pos is None:
             self.pos=np.array([0.6,1.3,0.3])
         else:

Env/Config/GarmentConfig.py

@@ -3,7 +3,7 @@
 from typing import Union
 
 class GarmentConfig:
-    def __init__(self,usd_path:str="/home/pakwa/GarmentLab/Assets/Garment/Tops/Collar_Lsleeve_FrontClose/TCLC_074/TCLC_074_obj.usd",pos:Union[torch.Tensor,np.ndarray]=np.array([0.5,-0.5,0.3]),ori:Union[torch.Tensor,np.ndarray]=np.array([0,0,np.pi/2]),scale:np.ndarray=np.array([0.005,0.005,0.005]),visual_material_usd:str="/home/pakwa/GarmentLab/Assets/Material/linen_Pumpkin.usd",particle_contact_offset:float=0.02):
+    def __init__(self,usd_path:str="/home/pakwa/GPs/GarmentLab/Assets/Garment/Tops/Collar_Lsleeve_FrontClose/TCLC_074/TCLC_074_obj.usd",pos:Union[torch.Tensor,np.ndarray]=np.array([0.5,-0.5,0.3]),ori:Union[torch.Tensor,np.ndarray]=np.array([0,0,np.pi/2]),scale:np.ndarray=np.array([0.005,0.005,0.005]),visual_material_usd:str="/home/pakwa/GPs/GarmentLab/Assets/Material/linen_Pumpkin.usd",particle_contact_offset:float=0.02):
         self.usd_path=usd_path
         if isinstance(pos,np.ndarray):
             self.pos=torch.from_numpy(pos)

Env/Config/InflatebleConfig.py

@@ -2,7 +2,7 @@
 import torch
 
 class InflatebleConfig:
-    def __init__(self,pos:np.ndarray=None,ori:np.ndarray=None,scale:np.ndarray=None,pressure:float=8.0,visual_material_usd:str="/home/pakwa/GarmentLab/Assets/Material/linen_Pumpkin.usd"):
+    def __init__(self,pos:np.ndarray=None,ori:np.ndarray=None,scale:np.ndarray=None,pressure:float=8.0,visual_material_usd:str="/home/pakwa/GPs/GarmentLab/Assets/Material/linen_Pumpkin.usd"):
         if pos is None:
             self.pos=np.array([0.8,0,0.5])
         else:

Env/Config/SceneConfig.py

@@ -2,7 +2,7 @@
 import torch
 
 class SceneConfig:
-    def __init__(self,room_usd_path="/home/pakwa/GarmentLab/Assets/Scene/FlatGrid.usd",pos:np.ndarray=None,ori:np.ndarray=None,scale:np.ndarray=None):
+    def __init__(self,room_usd_path="/home/pakwa/GPs/GarmentLab/Assets/Scene/FlatGrid.usd",pos:np.ndarray=None,ori:np.ndarray=None,scale:np.ndarray=None):
         if pos is None:
             self.pos=np.array([0,0,0])
         else:

Env/Rigid/Rigid.py

@@ -106,13 +106,13 @@ class RigidAfford_1():
     def __init__(self):
         rigid_cube = FixedCuboid(prim_path="/World/cube_0",
                                  name="cube_0",
-                                position=np.array([0.36957,-0.297,0.7]),
+                                position=np.array([0.32242,-0.275048,0.7]),
                                 scale=np.array([0.02,0.02,0.8]),
                                 orientation=euler_angles_to_quat(np.array([0,90,0])*np.pi/180))
 
         visual_cube = VisualCuboid(prim_path="/World/cube_1",
                                  name="cube_1",
-                                position=np.array([0.0282,-0.377,0.5]),
+                                position=np.array([0.00282,-1.97493,0.5]),
                                 scale=np.array([0.02,0.02,0.02]),
                                 visible=True)
 
@@ -126,7 +126,7 @@ def __init__(self):
 
 class RigidStore():
     def __init__(self):
-        add_reference_to_stage(usd_path="/home/pakwa/GarmentLab/Assets/Articulated/cabinet.usd",prim_path="/World")
+        add_reference_to_stage(usd_path="/home/pakwa/GPs/GarmentLab/Assets/Articulated/cabinet.usd",prim_path="/World")
         # self.rigid_form=XFormPrim(
         #     prim_path="/World/cabinet",
         #     name="cabinet",
@@ -140,7 +140,7 @@ def __init__(self):
 
 class RigidTable:
     def __init__(self,world:World):
-        add_reference_to_stage("/home/pakwa/GarmentLab/Assets/Scene/Willow.usd","/World/table")
+        add_reference_to_stage("/home/pakwa/GPs/GarmentLab/Assets/Scene/Willow.usd","/World/table")
         self.table_rigid_prim:RigidPrim=world.scene.add(RigidPrim(
             prim_path="/World/table",
             name="table",

Env/env/BimanualEnv.py

@@ -99,7 +99,7 @@ def get_reward(self,rotation, garment_id = 0):
             self.world.step()
         pts = self.garment[garment_id].get_vertice_positions()
         pts = self.Rotation(rotation,pts)
-        path = "/home/pakwa/GarmentLab/Assets/succ_example/fling_test_example.txt"
+        path = "/home/pakwa/GPs/GarmentLab/Assets/succ_example/fling_test_example.txt"
         np.savetxt(path, pts)
         coverage_trial = self.get_current_covered_area(pts)
         self.world.stop()
@@ -108,7 +108,7 @@ def get_reward(self,rotation, garment_id = 0):
         for i in range(20):
             self.world.step()
         pts = self.garment[garment_id].get_vertice_positions()
-        path = "/home/pakwa/GarmentLab/Assets/succ_example/fling_standard_example.txt"
+        path = "/home/pakwa/GPs/GarmentLab/Assets/succ_example/fling_standard_example.txt"
         np.savetxt(path, pts)
         coverage_standard = self.get_current_covered_area(pts)
         if  coverage_trial/coverage_standard > 0.75:

Env/env/CustomizedObject.py

@@ -15,13 +15,13 @@
 class CustomizedObject(BaseEnv):
     def __init__(self):
         BaseEnv.__init__(self,deformable=True)
-        self.deformable_config=DeformableConfig(usd_path="/home/pakwa/GarmentLab/Assets/RealWorld/12_WinnieBear/12_mesh.usd",
+        self.deformable_config=DeformableConfig(usd_path="/home/pakwa/GPs/GarmentLab/Assets/RealWorld/12_WinnieBear/12_mesh.usd",
                                                 scale=np.array([0.001,0.001,0.001]),
                                                 pos=np.array([0.3,0.5,0.3]),
                                                 visual_material_usd=None,
                                                 ori=np.array([np.pi/5,np.pi/2,0]))
         self.deformable=Deformable(self.world,self.deformable_config)
-        self.garment_config=GarmentConfig(usd_path="/home/pakwa/GarmentLab/Assets/Garment/Tops/Hooded_Lsleeve_FrontOpen/THLO_Jacket065/THLO_Jacket065_obj.usd",
+        self.garment_config=GarmentConfig(usd_path="/home/pakwa/GPs/GarmentLab/Assets/Garment/Tops/Hooded_Lsleeve_FrontOpen/THLO_Jacket065/THLO_Jacket065_obj.usd",
                                         #   visual_material_usd=None,
                                           pos=np.array([1,-0.3,0.3]),)
         self.garment=Garment(self.world,self.garment_config)

Env/env/DeformableEnv.py

@@ -2,7 +2,7 @@
 from isaacsim import SimulationApp
 import torch
 import sys
-sys.path.append("/home/pakwa/GarmentLab")
+sys.path.append("/home/pakwa/GPs/GarmentLab")
 simulation_app = SimulationApp({"headless": False})
 import numpy as np
 

Env/env/DexLeftEnv.py

@@ -3,7 +3,7 @@
 
 from omni.isaac.kit import SimulationApp
 
-# sys.path.append("/home/pakwa/GarmentLab/")
+# sys.path.append("/home/pakwa/GPs/GarmentLab/")
 
 app = SimulationApp({"headless": False})