Repository: empriselab/RCareWorld (language: python)

Issue:
Feature Request: Set angular velocity of the wheels
## Description:

As an extension of the `TurnLeft` and similar functions, users have requested the ability to set the velocity of a wheel individually to follow more complex control mechanisms.


Discussion / hints:

Fix patch:
diff --git a/pyrcareworld/pyrcareworld/attributes/controller_attr.py b/pyrcareworld/pyrcareworld/attributes/controller_attr.py
index 5b4f666..854f416 100755
--- a/pyrcareworld/pyrcareworld/attributes/controller_attr.py
+++ b/pyrcareworld/pyrcareworld/attributes/controller_attr.py
@@ -219,6 +219,19 @@ def TurnRight(self, angle: float, speed: float):
         :param speed: Float, velocity.
         """
         self._send_data("TurnRight", float(angle), float(speed*100))
+
+    def TargetVelocity(self, vel_left: float = 0, vel_right: float = 0, duration: float = 0.1):
+        """
+        Sets the target velocity of the drive motors for a short time. If this is called while a different target velocity was set, it will be overwritten and the duration refreshed.
+
+        WARNING: May not work identically across different computers, depending on the framerate the simulation runs at.
+
+        :param vel_left: Float, left motor velocity.
+        :param vel_right: Float, right motor velocity.
+        :param duration: Float, duration in seconds. Default 0.1s.
+        """
+        self._send_data("TargetVelocity", float(vel_left), float(vel_right), float(duration))
+
         
     def StopMovement(self):
         """
diff --git a/template/Bathing/BathingPlayer_Data/Managed/RCareWorld.dll b/template/Bathing/BathingPlayer_Data/Managed/RCareWorld.dll
index e416cf6..2bcd1b9 100644
Binary files a/template/Bathing/BathingPlayer_Data/Managed/RCareWorld.dll and b/template/Bathing/BathingPlayer_Data/Managed/RCareWorld.dll differ
diff --git a/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.10.20.22.16.05.hash b/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.10.20.22.16.05.hash
new file mode 100644
index 0000000..64fa56e
--- /dev/null
+++ b/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.10.20.22.16.05.hash
@@ -0,0 +1,1 @@
+beb4cb7e3c57ab720491a5b9520c6161
\ No newline at end of file
diff --git a/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.10.20.22.16.05.json b/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.10.20.22.16.05.json
new file mode 100644
index 0000000..3bb8612
--- /dev/null
+++ b/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.10.20.22.16.05.json
@@ -0,0 +1,1 @@
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diff --git a/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.10.20.22.49.41.hash b/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.10.20.22.49.41.hash
new file mode 100644
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diff --git a/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.10.20.22.49.41.json b/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.10.20.22.49.41.json
new file mode 100644
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diff --git a/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.10.20.22.51.58.hash b/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.10.20.22.51.58.hash
new file mode 100644
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new file mode 100644
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diff --git a/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.10.24.02.05.47.hash b/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.10.24.02.05.47.hash
new file mode 100644
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new file mode 100644
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\ No newline at end of file
diff --git a/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/settings.json b/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/settings.json
index e112f22..0fdfca1 100644
--- a/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/settings.json
+++ b/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/settings.json
@@ -1,1 +1,1 @@
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diff --git a/template/Bathing/BathingPlayer_Data/boot.config b/template/Bathing/BathingPlayer_Data/boot.config
index 225dc9f..5f1e91f 100644
--- a/template/Bathing/BathingPlayer_Data/boot.config
+++ b/template/Bathing/BathingPlayer_Data/boot.config
@@ -2,4 +2,4 @@ wait-for-native-debugger=0
 hdr-display-enabled=0
 gc-max-time-slice=3
 force-d3d11-bitblt-model=
-build-guid=4baa3a5f29c44b86bcc2b0061c99f25c
+build-guid=b49741948cdc487b9dfa8068ee6e8aa1
diff --git a/template/Bathing/BathingPlayer_Data/globalgamemanagers b/template/Bathing/BathingPlayer_Data/globalgamemanagers
index 8b6bc64..0fd37bc 100644
Binary files a/template/Bathing/BathingPlayer_Data/globalgamemanagers and b/template/Bathing/BathingPlayer_Data/globalgamemanagers differ
diff --git a/template/Bathing/BathingPlayer_Data/resources.assets b/template/Bathing/BathingPlayer_Data/resources.assets
index f24faa6..b8b6bbb 100644
Binary files a/template/Bathing/BathingPlayer_Data/resources.assets and b/template/Bathing/BathingPlayer_Data/resources.assets differ


Test patch:
diff --git a/tests/test_bathing_env.py b/tests/test_bathing_env.py
index 5ceaabb..58f841e 100644
--- a/tests/test_bathing_env.py
+++ b/tests/test_bathing_env.py
@@ -112,3 +112,59 @@ def test_seed():
 
     personCollider = env.GetAttr(env._person_id)
     assert np.allclose(personCollider.data['position'], [-0.703722656,1.19400001,-0.026099354], atol=1e-4)
+
+def test_target_angle_drive(bathing_env: BathingEnv):
+    """Tests for movement using `.TargetVelocity()` on the robot."""
+
+    robot = bathing_env.get_robot()
+    num_steps_per_command = 300
+
+    # Drive forward by setting left and right velocities.
+    robot_base_position = robot.data["positions"][0].copy()
+    for _ in range(num_steps_per_command):
+        robot.TargetVelocity(0.5, 0.5)
+        bathing_env.step()
+
+    new_robot_base_position = robot.data["positions"][0].copy()
+    # Hits the drawer.
+    expected_robot_base_position = np.add(robot_base_position, (0, 0, 0.51))
+    assert np.allclose(new_robot_base_position, expected_robot_base_position, atol=0.03)
+
+    # Drive backward by setting left and right velocities.
+    robot_base_position = robot.data["positions"][0].copy()
+    for _ in range(num_steps_per_command):
+        robot.TargetVelocity(-0.5, -0.5)
+        bathing_env.step()
+
+    new_robot_base_position = robot.data["positions"][0].copy()
+    # Hits the bed.
+    expected_robot_base_position = np.add(robot_base_position, (0, 0, -1.08))
+    assert np.allclose(new_robot_base_position, expected_robot_base_position, atol=0.1)
+
+def test_target_angle_turn(bathing_env: BathingEnv):
+    robot = bathing_env.get_robot()
+    num_steps_per_command = 300
+
+    # Drive left by setting left and right velocities.
+    robot_base_rotation = robot.data["rotations"][0].copy()
+    for _ in range(num_steps_per_command):
+        robot.TargetVelocity(-0.25, 0.25)
+        bathing_env.step()
+
+    new_robot_base_rotation = robot.data["rotations"][0].copy()
+    expected_robot_base_rotation = np.add(robot_base_rotation, (0, -40, 0))
+    assert euler_angles_allclose(new_robot_base_rotation, expected_robot_base_rotation, atol=10.0)
+
+    # Stop for a moment.
+    robot.TargetVelocity(0, 0)
+    bathing_env.step()
+
+    # Drive right by setting left and right velocities.
+    robot_base_rotation = robot.data["rotations"][0].copy()
+    for _ in range(num_steps_per_command):
+        robot.TargetVelocity(0.25, -0.25)
+        bathing_env.step()
+
+    new_robot_base_rotation = robot.data["rotations"][0].copy()
+    expected_robot_base_rotation = np.add(robot_base_rotation, (0, 40, 0))
+    assert euler_angles_allclose(new_robot_base_rotation, expected_robot_base_rotation, atol=10.0)