diff --git a/hci/user-in-the-box/uitb/__init__.py b/hci/user-in-the-box/uitb/__init__.py new file mode 100644 index 00000000..fdb691f0 --- /dev/null +++ b/hci/user-in-the-box/uitb/__init__.py @@ -0,0 +1 @@ +from uitb.simulator import Simulator \ No newline at end of file diff --git a/hci/user-in-the-box/uitb/bm_models/__init__.py b/hci/user-in-the-box/uitb/bm_models/__init__.py new file mode 100644 index 00000000..8e956c03 --- /dev/null +++ b/hci/user-in-the-box/uitb/bm_models/__init__.py @@ -0,0 +1,5 @@ +from .mobl_arms_index.MoblArmsIndex import MoblArmsIndex +from .mobl_arms.MoblArms import MoblArms +from .mobl_arms_wrist.MoblArmsWrist import MoblArmsWrist +from .mobl_arms_bimanual.MoblArmsBimanual import MoblArmsBimanual +from .mobl_arms_bimanual_motor.MoblArmsBimanualMotor import MoblArmsBimanualMotor diff --git a/hci/user-in-the-box/uitb/bm_models/__pycache__/__init__.cpython-311.pyc b/hci/user-in-the-box/uitb/bm_models/__pycache__/__init__.cpython-311.pyc new file mode 100644 index 00000000..4ec1c53d Binary files /dev/null and b/hci/user-in-the-box/uitb/bm_models/__pycache__/__init__.cpython-311.pyc differ diff --git a/hci/user-in-the-box/uitb/bm_models/__pycache__/base.cpython-311.pyc b/hci/user-in-the-box/uitb/bm_models/__pycache__/base.cpython-311.pyc new file mode 100644 index 00000000..7cf10e2d Binary files /dev/null and b/hci/user-in-the-box/uitb/bm_models/__pycache__/base.cpython-311.pyc differ diff --git a/hci/user-in-the-box/uitb/bm_models/__pycache__/effort_models.cpython-311.pyc b/hci/user-in-the-box/uitb/bm_models/__pycache__/effort_models.cpython-311.pyc new file mode 100644 index 00000000..2d8d4044 Binary files /dev/null and b/hci/user-in-the-box/uitb/bm_models/__pycache__/effort_models.cpython-311.pyc differ diff --git a/hci/user-in-the-box/uitb/bm_models/base.py b/hci/user-in-the-box/uitb/bm_models/base.py new file mode 100644 index 00000000..a7dc9521 --- /dev/null +++ b/hci/user-in-the-box/uitb/bm_models/base.py @@ -0,0 +1,368 @@ +import numpy as np +import xml.etree.ElementTree as ET +import pathlib +import os +import shutil +import inspect +import mujoco +from abc import ABC, abstractmethod +import importlib +from typing import final + +from ..utils.functions import parent_path +from ..utils import element_tree as ETutils + + +class BaseBMModel(ABC): + + def __init__(self, model, data, **kwargs): + """Initializes a new `BaseBMModel`. + + Args: + model: Mujoco model instance of the simulator. + data: Mujoco data instance of the simulator. + **kwargs: Many keywords that should be documented somewhere + """ + + # Initialise mujoco model of the biomechanical model, easier to manipulate things + bm_model = mujoco.MjModel.from_xml_path(self.get_xml_file()) + + # Get an rng + self._rng = np.random.default_rng(kwargs.get("random_seed", None)) + + # Total number of actuators + self._nu = bm_model.nu + + # Number of muscle actuators + self._na = bm_model.na + + # Number of motor actuators + self._nm = self._nu - self._na + self._motor_act = np.zeros((self._nm,)) + self._motor_alpha = 0.9 + + # Get actuator names (muscle and motor) + self._actuator_names = [mujoco.mj_id2name(bm_model, mujoco.mjtObj.mjOBJ_ACTUATOR, i) for i in range(bm_model.nu)] + self._muscle_actuator_names = set(np.array(self._actuator_names)[bm_model.actuator_trntype==3]) + self._motor_actuator_names = set(self._actuator_names) - self._muscle_actuator_names + + # Sort the names to preserve original ordering (not really necessary but looks nicer) + self._muscle_actuator_names = sorted(self._muscle_actuator_names, key=self._actuator_names.index) + self._motor_actuator_names = sorted(self._motor_actuator_names, key=self._actuator_names.index) + + # Find actuator indices in the simulation + self._muscle_actuators = [mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, actuator_name) + for actuator_name in self._muscle_actuator_names] + self._motor_actuators = [mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, actuator_name) + for actuator_name in self._motor_actuator_names] + + # Get joint names (dependent and independent) + self._joint_names = [mujoco.mj_id2name(bm_model, mujoco.mjtObj.mjOBJ_JOINT, i) for i in range(bm_model.njnt)] + _eq_on = getattr(bm_model, "eq_active", None) + if _eq_on is None: + _eq_on = getattr(bm_model, "eq_active0", np.ones(bm_model.neq)) + _eq_on = np.asarray(_eq_on).astype(bool) + self._dependent_joint_names = {self._joint_names[idx] for idx in + np.unique(bm_model.eq_obj1id[_eq_on])} \ + if bm_model.eq_obj1id is not None else set() + self._independent_joint_names = set(self._joint_names) - self._dependent_joint_names + + # Sort the names to preserve original ordering (not really necessary but looks nicer) + self._dependent_joint_names = sorted(self._dependent_joint_names, key=self._joint_names.index) + self._independent_joint_names = sorted(self._independent_joint_names, key=self._joint_names.index) + + # Find dependent and independent joint indices in the simulation + self._dependent_joints = [mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_JOINT, joint_name) + for joint_name in self._dependent_joint_names] + self._independent_joints = [mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_JOINT, joint_name) + for joint_name in self._independent_joint_names] + + # If there are 'free' type of joints, we'll need to be more careful with which dof corresponds to + # which joint, for both qpos and qvel/qacc. There should be exactly one dof per independent/dependent joint. + def get_dofs(joint_indices): + qpos = [] + dofs = [] + for joint_idx in joint_indices: + if model.jnt_type[joint_idx] not in [mujoco.mjtJoint.mjJNT_HINGE, mujoco.mjtJoint.mjJNT_SLIDE]: + raise NotImplementedError(f"Only 'hinge' and 'slide' joints are supported, joint " + f"{self._joint_names[joint_idx]} is of type {mujoco.mjtJoint(model.jnt_type[joint_idx]).name}") + qpos.append(model.jnt_qposadr[joint_idx]) + dofs.append(model.jnt_dofadr[joint_idx]) + return qpos, dofs + self._dependent_qpos, self._dependent_dofs = get_dofs(self._dependent_joints) + self._independent_qpos, self._independent_dofs = get_dofs(self._independent_joints) + + # Get the effort model; some models might need to know dt + self._effort_model = self.get_effort_model(kwargs.get("effort_model", {"cls": "Zero"}), dt=kwargs["dt"]) + + # Define signal-dependent noise + self._sigdepnoise_type = kwargs.get("sigdepnoise_type", None) #"white") + self._sigdepnoise_level = kwargs.get("sigdepnoise_level", 0.103) + self._sigdepnoise_rng = np.random.default_rng(kwargs.get("random_seed", None)) + self._sigdepnoise_acc = 0 #only used for red/Brownian noise + + # Define constant (i.e., signal-independent) noise + self._constantnoise_type = kwargs.get("constantnoise_type", None) #"white") + self._constantnoise_level = kwargs.get("constantnoise_level", 0.185) + self._constantnoise_rng = np.random.default_rng(kwargs.get("random_seed", None)) + self._constantnoise_acc = 0 #only used for red/Brownian noise + + ############ The methods below you should definitely overwrite as they are important ############ + + @classmethod + @abstractmethod + def _get_floor(cls): + """ If there's a floor in the bm_model.xml file it should be defined here. + + Returns: + * None if there is no floor in the file + * A dict like {"tag": "geom", "name": "name-of-the-geom"}, where "tag" indicates what kind of element the floor + is, and "name" is the name of the element. + """ + pass + + + ############ The methods below are overwritable but often don't need to be overwritten ############ + + def _reset(self, model, data): + """ Resets the biomechanical model. """ + + # Randomly sample qpos, qvel, act around zero values + nq = len(self._independent_qpos) + qpos = self._rng.uniform(low=np.ones((nq,))*-0.05, high=np.ones((nq,))*0.05) + qvel = self._rng.uniform(low=np.ones((nq,))*-0.05, high=np.ones((nq,))*0.05) + act = self._rng.uniform(low=np.zeros((self._na,)), high=np.ones((self._na,))) + + # Set qpos and qvel + data.qpos[self._dependent_qpos] = 0 + data.qpos[self._independent_qpos] = qpos + data.qvel[self._dependent_dofs] = 0 + data.qvel[self._independent_dofs] = qvel + data.act[self._muscle_actuators] = act + + # Sample random initial values for motor activation + self._motor_act = self._rng.uniform(low=np.zeros((self._nm,)), high=np.ones((self._nm,))) + # Reset smoothed average of motor actuator activation + self._motor_smooth_avg = np.zeros((self._nm,)) + + # Reset accumulative noise + self._sigdepnoise_acc = 0 + self._constantnoise_acc = 0 + + def _update(self, model, data): + """ Update the biomechanical model after a step has been taken in the simulator. """ + pass + + def _get_state(self, model, data): + """ Return the state of the biomechanical model. These states are used only for logging/evaluation, not for RL + training + + Args: + model: Mujoco model instance of the simulator. + data: Mujoco data instance of the simulator. + + Returns: + A dict where each key should have a float or a numpy vector as their value + """ + return dict() + + def set_ctrl(self, model, data, action): + """ Set control values for the biomechanical model. + + Args: + model: Mujoco model instance of the simulator. + data: Mujoco data instance of the simulator. + action: Action values between [-1, 1] + + """ + + _selected_motor_control = np.clip(self._motor_act + action[:self._nm], 0, 1) + _selected_muscle_control = np.clip(data.act[self._muscle_actuators] + action[self._nm:], 0, 1) + + if self._sigdepnoise_type is not None: + if self._sigdepnoise_type == "white": + _added_noise = self._sigdepnoise_level*self._sigdepnoise_rng.normal(scale=_selected_muscle_control) + _selected_muscle_control += _added_noise + elif self._sigdepnoise_type == "whiteonly": #only for debugging purposes + _selected_muscle_control = self._sigdepnoise_level*self._sigdepnoise_rng.normal(scale=_selected_muscle_control) + elif self._sigdepnoise_type == "red": + # self._sigdepnoise_acc *= 1 - 0.1 + self._sigdepnoise_acc += self._sigdepnoise_level*self._sigdepnoise_rng.normal(scale=_selected_muscle_control) + _selected_muscle_control += self._sigdepnoise_acc + else: + raise NotImplementedError(f"{self._sigdepnoise_type}") + if self._constantnoise_type is not None: + if self._constantnoise_type == "white": + _selected_muscle_control += self._constantnoise_level*self._constantnoise_rng.normal(scale=1) + elif self._constantnoise_type == "whiteonly": #only for debugging purposes + _selected_muscle_control = self._constantnoise_level*self._constantnoise_rng.normal(scale=1) + elif self._constantnoise_type == "red": + self._constantnoise_acc += self._constantnoise_level*self._constantnoise_rng.normal(scale=1) + _selected_muscle_control += self._constantnoise_acc + else: + raise NotImplementedError(f"{self._constantnoise_type}") + + # Update smoothed online estimate of motor actuation + self._motor_act = (1 - self._motor_alpha) * self._motor_act \ + + self._motor_alpha * np.clip(_selected_motor_control, 0, 1) + + data.ctrl[self._motor_actuators] = model.actuator_ctrlrange[self._motor_actuators,0] + self._motor_act*(model.actuator_ctrlrange[self._motor_actuators, 1] - model.actuator_ctrlrange[self._motor_actuators, 0]) + data.ctrl[self._muscle_actuators] = np.clip(_selected_muscle_control, 0, 1) + + + @classmethod + def get_xml_file(cls): + """ Overwrite this method if you want to call the mujoco xml file something other than 'bm_model.xml'. """ + return os.path.join(parent_path(inspect.getfile(cls)), "bm_model.xml") + + def get_effort_model(self, specs, dt): + """ Returns an initialised object of the effort model class. + + Overwrite this method if you want to define your effort models somewhere else. But note that in that case you need + to overwrite the 'clone' method as well since it assumes the effort models are defined in + uitb.bm_models.effort_models. + + Args: + specs: Specifications of the effort model, in format of + {"cls": "name-of-class", "kwargs": {"kw1": value1, "kw2": value2}}} + dt: Elapsed time between two consecutive simulation steps + + Returns: + An instance of a class that inherits from the uitb.bm_models.effort_models.BaseEffortModel class + """ + module = importlib.import_module(".".join(BaseBMModel.__module__.split(".")[:-1]) + ".effort_models") + return getattr(module, specs["cls"])(self, **{**specs.get("kwargs", {}), **{"dt": dt}}) + + @classmethod + def clone(cls, simulator_folder, package_name): + """ Clones (i.e. copies) the relevant python files into a new location. + + Args: + simulator_folder: Location of the simulator. + package_name: Name of the simulator (which is a python package) + """ + + # Create 'bm_models' folder + dst = os.path.join(simulator_folder, package_name, "bm_models") + os.makedirs(dst, exist_ok=True) + + # Copy this file + base_file = pathlib.Path(__file__) + shutil.copyfile(base_file, os.path.join(dst, base_file.name)) + + # Create an __init__.py file with the relevant import + modules = cls.__module__.split(".") + with open(os.path.join(dst, "__init__.py"), "w") as file: + file.write("from ." + ".".join(modules[2:]) + " import " + cls.__name__) + + # Copy bm-model folder + src = parent_path(inspect.getfile(cls)) + shutil.copytree(src, os.path.join(dst, src.stem), dirs_exist_ok=True) + + # Copy assets + shutil.copytree(os.path.join(src, "assets"), os.path.join(simulator_folder, package_name, "assets"), + dirs_exist_ok=True) + + # Copy effort models + shutil.copyfile(os.path.join(base_file.parent, "effort_models.py"), os.path.join(dst, "effort_models.py")) + + @classmethod + def insert(cls, simulator_tree): + """ Inserts the biomechanical model into the simulator by integrating the xml files together. + + Args: + simulator_tree: An `xml.etree.ElementTree` containing the parsed simulator xml file + """ + + # Parse xml file + bm_tree = ET.parse(cls.get_xml_file()) + bm_root = bm_tree.getroot() + + # Get simulator root + simulator_root = simulator_tree.getroot() + + # Add defaults + ETutils.copy_or_append("default", bm_root, simulator_root) + + # Add assets, except skybox + ETutils.copy_children("asset", bm_root, simulator_root, + exclude={"tag": "texture", "attrib": "type", "name": "skybox"}) + + # Add bodies, except floor/ground TODO this might not be currently working + if cls._get_floor() is not None: + floor = cls._get_floor() + ETutils.copy_children("worldbody", bm_root, simulator_root, + exclude={"tag": floor["tag"], "attrib": "name", "name": floor["name"]}) + else: + ETutils.copy_children("worldbody", bm_root, simulator_root) + + # Add tendons + ETutils.copy_children("tendon", bm_root, simulator_root) + + # Add actuators + ETutils.copy_children("actuator", bm_root, simulator_root) + + # Add equality constraints + ETutils.copy_children("equality", bm_root, simulator_root) + + def close(self, **kwargs): + """ Perform any necessary clean up. """ + pass + + ############ The methods below you should not overwrite ############ + + @final + def update(self, model, data): + """ Updates the biomechanical model and effort model. """ + self._update(model, data) + self._effort_model.update(model, data) + + @final + def reset(self, model, data): + """ Resets the biomechanical model and effort model. """ + self._reset(model, data) + self._effort_model.reset(model, data) + self.update(model, data) + mujoco.mj_forward(model, data) + + @final + def get_state(self, model, data): + """ Returns the state of the biomechanical model (as a dict). """ + state = dict() + state.update(self._get_state(model, data)) + state.update(self._effort_model._get_state(model, data)) + return state + + @final + def get_effort_cost(self, model, data): + """ Returns effort cost from the effort model. """ + return self._effort_model.cost(model, data) + + @property + @final + def independent_joints(self): + """ Returns indices of independent joints. """ + return self._independent_joints.copy() + + @property + @final + def independent_qpos(self): + """ Returns qpos indices of independent joints. """ + return self._independent_qpos.copy() + + @property + @final + def independent_dofs(self): + """ Returns qvel/qacc indices of independent joints. """ + return self._independent_dofs.copy() + + @property + @final + def nu(self): + """ Returns number of actuators (both muscle and motor). """ + return self._nu + + @property + def motor_act(self): + """ Returns (smoothed average of) motor actuation. """ + return self._motor_act diff --git a/hci/user-in-the-box/uitb/bm_models/effort_models.py b/hci/user-in-the-box/uitb/bm_models/effort_models.py new file mode 100644 index 00000000..040a2040 --- /dev/null +++ b/hci/user-in-the-box/uitb/bm_models/effort_models.py @@ -0,0 +1,305 @@ +from abc import ABC, abstractmethod +import mujoco +import numpy as np + + +class BaseEffortModel(ABC): + + def __init__(self, bm_model, **kwargs): + self._bm_model = bm_model + + @abstractmethod + def cost(self, model, data): + pass + + @abstractmethod + def reset(self, model, data): + pass + + @abstractmethod + def update(self, model, data): + # If needed to e.g. reduce max force output + pass + + def _get_state(self, model, data): + """ Return the state of the effort model. These states are used only for logging/evaluation, not for RL + training + + Args: + model: Mujoco model instance of the simulator. + data: Mujoco data instance of the simulator. + + Returns: + A dict where each key should have a float or a numpy vector as their value + """ + return dict() + + +class Composite(BaseEffortModel): + + def __init__(self, bm_model, weight=1e-7, **kwargs): + super().__init__(bm_model) + self._weight = weight + + def cost(self, model, data): + mujoco.cymj._mj_inverse(model, data) # TODO does this work with new mujoco python bindings? + angle_acceleration = np.sum(data.qacc[self._bm_model.independent_dofs] ** 2) + energy = np.sum(data.qvel[self._bm_model.independent_dofs] ** 2 + * data.qfrc_inverse[self._bm_model.independent_dofs] ** 2) + return self._weight * (energy + 0.05 * angle_acceleration) + + def reset(self, model, data): + pass + + def update(self, model, data): + pass + + +class CumulativeFatigue(BaseEffortModel): + + # 3CC-r model, adapted from https://dl.acm.org/doi/pdf/10.1145/3313831.3376701 for muscles -- using control signals + # instead of torque or force + def __init__(self, bm_model, dt, **kwargs): + super().__init__(bm_model) + self._r = 7.5 + self._F = 0.0146 + self._R = 0.0022 + self._LD = 10 + self._LR = 10 + self._MA = None + self._MR = None + self._weight = 0.01 + self._dt = dt + + def cost(self, model, data): + + # Initialise MA if not yet initialised + if self._MA is None: + self._MA = np.zeros((model.na,)) + self._MR = np.ones((model.na,)) + + # Get target load (actual activation, which might be reached only with some "effort", depending on how many muscles can be activated (fast enough) and how many are in fatigue state) + TL = data.act.copy() + + # Calculate C(t) + C = np.zeros_like(self._MA) + idxs = (self._MA < TL) & (self._MR > (TL - self._MA)) + C[idxs] = self._LD * (TL[idxs] - self._MA[idxs]) + idxs = (self._MA < TL) & (self._MR <= (TL - self._MA)) + C[idxs] = self._LD * self._MR[idxs] + idxs = self._MA >= TL + C[idxs] = self._LR * (TL[idxs] - self._MA[idxs]) + + # Calculate rR + rR = np.zeros_like(self._MA) + idxs = self._MA >= TL + rR[idxs] = self._r*self._R + idxs = self._MA < TL + rR[idxs] = self._R + + # Calculate MA, MR + self._MA += (C - self._F*self._MA)*self._dt + self._MR += (-C + rR*self._MR)*self._dt + + # Not sure if these are needed + self._MA = np.clip(self._MA, 0, 1) + self._MR = np.clip(self._MR, 0, 1) + + # Calculate effort + effort = np.linalg.norm(self._MA - TL) + + return self._weight*effort + + def reset(self, model, data): + self._MA = None + self._MR = None + + def update(self, model, data): + pass + + +class CumulativeFatigue3CCr(BaseEffortModel): + + # 3CC-r model, adapted from https://dl.acm.org/doi/pdf/10.1145/3313831.3376701 for muscles -- using control signals + # instead of torque or force + # v2: now with additional muscle fatigue state + def __init__(self, bm_model, dt, weight=0.01, **kwargs): + super().__init__(bm_model) + self._r = 7.5 + self._F = 0.0146 + self._R = 0.0022 + self._LD = 10 + self._LR = 10 + self._MA = None + self._MR = None + self._MF = None + self._TL = None + self._dt = dt + self._weight = weight + self._effort_cost = None + + def cost(self, model, data): + # Calculate effort + effort = np.linalg.norm(self._MA - self._TL) + self._effort_cost = self._weight*effort + return self._effort_cost + + def reset(self, model, data): + self._MA = np.zeros((model.na,)) + self._MR = np.ones((model.na,)) + self._MF = np.zeros((model.na,)) + + def update(self, model, data): + # Get target load + TL = data.act.copy() + self._TL = TL + + # Calculate C(t) + C = np.zeros_like(self._MA) + idxs = (self._MA < TL) & (self._MR > (TL - self._MA)) + C[idxs] = self._LD * (TL[idxs] - self._MA[idxs]) + idxs = (self._MA < TL) & (self._MR <= (TL - self._MA)) + C[idxs] = self._LD * self._MR[idxs] + idxs = self._MA >= TL + C[idxs] = self._LR * (TL[idxs] - self._MA[idxs]) + + # Calculate rR + rR = np.zeros_like(self._MA) + idxs = self._MA >= TL + rR[idxs] = self._r*self._R + idxs = self._MA < TL + rR[idxs] = self._R + + # Clip C(t) if needed, to ensure that MA, MR, and MF remain between 0 and 1 + C = np.clip(C, np.maximum(-self._MA/self._dt + self._F*self._MA, (self._MR - 1)/self._dt + rR*self._MF), + np.minimum((1 - self._MA)/self._dt + self._F*self._MA, self._MR/self._dt + rR*self._MF)) + + # Update MA, MR, MF + dMA = (C - self._F*self._MA)*self._dt + dMR = (-C + rR*self._MF)*self._dt + dMF = (self._F*self._MA - rR*self._MF)*self._dt + self._MA += dMA + self._MR += dMR + self._MF += dMF + + def _get_state(self, model, data): + state = {"3CCr_MA": self._MA, + "3CCr_MR": self._MR, + "3CCr_MF": self._MF, + "effort_cost": self._effort_cost} + return state + + +class ConsumedEndurance(BaseEffortModel): + + lifting_muscles = ["DELT1", "DELT2", "DELT3", "SUPSP", "INFSP", "SUBSC", "TMIN", "BIClong", "BICshort", "TRIlong", "TRIlat", "TRImed"] + + # consumed endurance model, taken from https://dl.acm.org/doi/pdf/10.1145/2556288.2557130 + def __init__(self, bm_model, dt, weight=0.01, **kwargs): + super().__init__(bm_model) + self._dt = dt + self._weight = weight + self._endurance = None + self._consumed_endurance = None + self._effort_cost = None + + def get_endurance(self, model, data): + #applied_shoulder_torque = np.linalg.norm(data.qfrc_inverse[:]) + #applied_shoulder_torque = np.linalg.norm(data.qfrc_actuator[:]) + lifting_indices = [model.actuator(_i).id for _i in self.lifting_muscles] + applied_shoulder_torques = data.actuator_force[lifting_indices] + maximum_shoulder_torques = model.actuator_gainprm[lifting_indices, 2] + #assert np.all(applied_shoulder_torque <= 0), "Expected only negative values in data.actuator_force." + #strength = np.mean((applied_shoulder_torques/maximum_shoulder_torques)**2) + strength = np.abs(applied_shoulder_torques/maximum_shoulder_torques) #compute strength per muscle + # assert np.all(strength <= 1), f"Applied torque is larger than maximum torque! strength:{strength}, applied:{applied_shoulder_torques}, max:{maximum_shoulder_torques}" + strength = strength.clip(0, 1) + + # if strength > 0.15: + # endurance = (1236.5/((strength*100 - 15)**0.618)) - 72.5 + # else: + # endurance = np.inf + + endurance = np.inf * np.ones_like(strength) + endurance[strength > 0.15] = (1236.5/((strength[strength > 0.15]*100 - 15)**0.618)) - 72.5 + + minimum_endurance = np.min(endurance) + # TODO: take minimum of each muscle synergy, and then apply sum/mean + + return minimum_endurance + + def cost(self, model, data): + # Calculate consumed endurance + self._endurance = self.get_endurance(model, data) + #total_time = data.time + consumed_time = self._dt + + if self._endurance < np.inf: + self._consumed_endurance = (consumed_time/self._endurance)*100 + else: + self._consumed_endurance = 0.0 + + self._effort_cost = self._weight*self._consumed_endurance + return self._effort_cost + + def reset(self, model, data): + #WARNING: bm_model.reset() should reset simulation time (i.e., data.time==0 before the next costs are calculated) + pass + + def update(self, model, data): + pass + + def _get_state(self, model, data): + state = {"consumed_endurance": self._consumed_endurance, + "effort_cost": self._effort_cost} + return state + + +class MuscleState(BaseEffortModel): + + def __init__(self, bm_model, weight=1e-4, **kwargs): + super().__init__(bm_model) + self._weight = weight + + def cost(self, model, data): + return self._weight * np.sum(data.act ** 2) + + def reset(self, model, data): + pass + + def update(self, model, data): + pass + + +class Neural(BaseEffortModel): + + def __init__(self, bm_model, weight=1e-4, **kwargs): + super().__init__(bm_model) + self._weight = weight + self._effort_cost = None + + def cost(self, model, data): + self._effort_cost = self._weight * np.sum(data.ctrl ** 2) + return self._effort_cost + + def reset(self, model, data): + pass + + def update(self, model, data): + pass + + def _get_state(self, model, data): + state = {"effort_cost": self._effort_cost} + return state + + +class Zero(BaseEffortModel): + + def cost(self, model, data): + return 0 + + def reset(self, model, data): + pass + + def update(self, model, data): + pass \ No newline at end of file diff --git a/hci/user-in-the-box/uitb/bm_models/mobl_arms/MoblArms.py b/hci/user-in-the-box/uitb/bm_models/mobl_arms/MoblArms.py new file mode 100644 index 00000000..d9e9ba75 --- /dev/null +++ b/hci/user-in-the-box/uitb/bm_models/mobl_arms/MoblArms.py @@ -0,0 +1,59 @@ +from ..base import BaseBMModel +from ...utils.functions import initialise_pos_and_quat + +import numpy as np +import mujoco + + +class MoblArms(BaseBMModel): + """This model is based on the MoBL ARMS model, see https://simtk.org/frs/?group_id=657 for the original model in OpenSim, + and https://github.com/aikkala/O2MConverter for the MuJoCo converted model. """ + + def __init__(self, model, data, **kwargs): + super().__init__(model, data, **kwargs) + + # Set shoulder variant; use "none" as default, use "patch-v1" for a qualitatively more reasonable looking movements (not thoroughly tested) + self.shoulder_variant = kwargs.get("shoulder_variant", "none") + + # Update skull rotation if necessary + if "skull_rotation" in kwargs: + + # Rotate skull + model.body("skull").quat = kwargs["skull_rotation"] + + # Do a forward + mujoco.mj_forward(model, data) + + # Check if there are any bodies whose positions need to be updated + # must be 1) weld equality constraint, and 2) obj2_id refer to the skull body. + # It would be nicer if each equality were updated in their respective classes (like unity headset in the unity + # task), but cannot be done with current ordering of task -> bm model -> perception + cond1 = model.eq_type == mujoco.mjtEq.mjEQ_WELD + cond2 = model.eq_obj2id == mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_BODY, "skull") + idxs = np.where(np.logical_and(cond1, cond2))[0] + + # Initialise pos and quat according to the relpose for each found body. + for idx in idxs: + initialise_pos_and_quat(model, data, "skull", model.eq_data[idx][3:10], + mujoco.mj_id2name(model, mujoco.mjtObj.mjOBJ_BODY, model.eq_obj1id[idx])) + + def _update(self, model, data): + + # Update shoulder equality constraints + if self.shoulder_variant.startswith("patch"): + model.equality("shoulder1_r2_con").data[1] = \ + -((np.pi - 2 * data.joint('shoulder_elv').qpos) / np.pi) + + if self.shoulder_variant == "patch-v2": + data.joint('shoulder_rot').range[:] = \ + np.array([-np.pi / 2, np.pi / 9]) - \ + 2 * np.min((data.joint('shoulder_elv').qpos, + np.pi - data.joint('shoulder_elv').qpos)) / np.pi \ + * data.joint('elv_angle').qpos + + # Do a forward calculation + mujoco.mj_forward(model, data) + + @classmethod + def _get_floor(cls): + return None diff --git a/hci/user-in-the-box/uitb/bm_models/mobl_arms/__init__.py 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index 00000000..a1c3886d --- /dev/null +++ b/hci/user-in-the-box/uitb/bm_models/mobl_arms/bm_model.xml @@ -0,0 +1,669 @@ + + + diff --git a/hci/user-in-the-box/uitb/bm_models/mobl_arms_bimanual/MoblArmsBimanual.py b/hci/user-in-the-box/uitb/bm_models/mobl_arms_bimanual/MoblArmsBimanual.py new file mode 100644 index 00000000..3d81a303 --- /dev/null +++ b/hci/user-in-the-box/uitb/bm_models/mobl_arms_bimanual/MoblArmsBimanual.py @@ -0,0 +1,67 @@ +from ..base import BaseBMModel +from ...utils.functions import initialise_pos_and_quat + +import numpy as np +import mujoco + + +class MoblArmsBimanual(BaseBMModel): + + def __init__(self, model, data, **kwargs): + super().__init__(model, data, **kwargs) + + # Set shoulder variant + self.shoulder_variant = kwargs.get("shoulder_variant", "none") + if self.shoulder_variant in ["patch-v1", "patch-v2"]: + print("[MoblArmsBimanual.__init__] Warning, 'patch-v1' and 'patch-v2' have not been tested, you should check them out yourself") + + # Update skull rotation if necessary + if "skull_rotation" in kwargs: + + # Rotate skull + model.body("skull").quat = kwargs["skull_rotation"] + + # Do a forward + mujoco.mj_forward(model, data) + + # Check if there are any bodies whose positions need to be updated + # must be 1) weld equality constraint, and 2) obj2_id refer to the skull body. + # It would be nicer if each equality were updated in their respective classes (like unity headset in the unity + # task), but cannot be done with current ordering of task -> bm model -> perception + cond1 = model.eq_type == mujoco.mjtEq.mjEQ_WELD + cond2 = model.eq_obj2id == mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_BODY, "skull") + idxs = np.where(np.logical_and(cond1, cond2))[0] + + # Initialise pos and quat according to the relpose for each found body. + for idx in idxs: + initialise_pos_and_quat(model, data, "skull", model.eq_data[idx][3:10], + mujoco.mj_id2name(model, mujoco.mjtObj.mjOBJ_BODY, model.eq_obj1id[idx])) + + def _update(self, model, data): + + # Update shoulder equality constraints + # NOTE! The left arm updates have not been tested + if self.shoulder_variant.startswith("patch"): + model.equality("shoulder1_r2_con_r").data[1] = \ + -((np.pi - 2 * data.joint('shoulder_elv_r').qpos) / np.pi) + model.equality("shoulder1_r2_con_l").data[1] = \ + -((np.pi - 2 * data.joint('shoulder_elv_l').qpos) / np.pi) + + if self.shoulder_variant == "patch-v2": + data.joint('shoulder_rot_r').range[:] = \ + np.array([-np.pi / 2, np.pi / 9]) - \ + 2 * np.min((data.joint('shoulder_elv_r').qpos, + np.pi - data.joint('shoulder_elv_r').qpos)) / np.pi \ + * data.joint('elv_angle_r').qpos + data.joint('shoulder_rot_l').range[:] = \ + np.array([-np.pi / 2, np.pi / 9]) - \ + 2 * np.min((data.joint('shoulder_elv_l').qpos, + np.pi - data.joint('shoulder_elv_l').qpos)) / np.pi \ + * data.joint('elv_angle_l').qpos + + # Do a forward calculation + mujoco.mj_forward(model, data) + + @classmethod + def _get_floor(cls): + return None diff --git 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b/hci/user-in-the-box/uitb/bm_models/mobl_arms_bimanual/bm_model.xml new file mode 100644 index 00000000..6f88b826 --- /dev/null +++ b/hci/user-in-the-box/uitb/bm_models/mobl_arms_bimanual/bm_model.xml @@ -0,0 +1,3284 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/hci/user-in-the-box/uitb/bm_models/mobl_arms_bimanual_motor/MoblArmsBimanualMotor.py b/hci/user-in-the-box/uitb/bm_models/mobl_arms_bimanual_motor/MoblArmsBimanualMotor.py new file mode 100644 index 00000000..ce9711e8 --- /dev/null +++ b/hci/user-in-the-box/uitb/bm_models/mobl_arms_bimanual_motor/MoblArmsBimanualMotor.py @@ -0,0 +1,67 @@ +from ..base import BaseBMModel +from ...utils.functions import initialise_pos_and_quat + +import numpy as np +import mujoco + + +class MoblArmsBimanualMotor(BaseBMModel): + + def __init__(self, model, data, **kwargs): + super().__init__(model, data, **kwargs) + + # Set shoulder variant + self.shoulder_variant = kwargs.get("shoulder_variant", "none") + if self.shoulder_variant in ["patch-v1", "patch-v2"]: + print("[MoblArmsBimanualMotor.__init__] Warning, 'patch-v1' and 'patch-v2' have not been tested, you should check them out yourself") + + # Update skull rotation if necessary + if "skull_rotation" in kwargs: + + # Rotate skull + model.body("skull").quat = kwargs["skull_rotation"] + + # Do a forward + mujoco.mj_forward(model, data) + + # Check if there are any bodies whose positions need to be updated + # must be 1) weld equality constraint, and 2) obj2_id refer to the skull body. + # It would be nicer if each equality were updated in their respective classes (like unity headset in the unity + # task), but cannot be done with current ordering of task -> bm model -> perception + cond1 = model.eq_type == mujoco.mjtEq.mjEQ_WELD + cond2 = model.eq_obj2id == mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_BODY, "skull") + idxs = np.where(np.logical_and(cond1, cond2))[0] + + # Initialise pos and quat according to the relpose for each found body. + for idx in idxs: + initialise_pos_and_quat(model, data, "skull", model.eq_data[idx][3:10], + mujoco.mj_id2name(model, mujoco.mjtObj.mjOBJ_BODY, model.eq_obj1id[idx])) + + def _update(self, model, data): + + # Update shoulder equality constraints + # NOTE! The left arm updates have not been tested + if self.shoulder_variant.startswith("patch"): + model.equality("shoulder1_r2_con_r").data[1] = \ + -((np.pi - 2 * data.joint('shoulder_elv_r').qpos) / np.pi) + model.equality("shoulder1_r2_con_l").data[1] = \ + -((np.pi - 2 * data.joint('shoulder_elv_l').qpos) / np.pi) + + if self.shoulder_variant == "patch-v2": + data.joint('shoulder_rot_r').range[:] = \ + np.array([-np.pi / 2, np.pi / 9]) - \ + 2 * np.min((data.joint('shoulder_elv_r').qpos, + np.pi - data.joint('shoulder_elv_r').qpos)) / np.pi \ + * data.joint('elv_angle_r').qpos + data.joint('shoulder_rot_l').range[:] = \ + np.array([-np.pi / 2, np.pi / 9]) - \ + 2 * np.min((data.joint('shoulder_elv_l').qpos, + np.pi - data.joint('shoulder_elv_l').qpos)) / np.pi \ + * data.joint('elv_angle_l').qpos + + # Do a forward calculation + mujoco.mj_forward(model, data) + + @classmethod + def _get_floor(cls): + return None diff --git 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100644 index 00000000..b9c8faaf --- /dev/null +++ b/hci/user-in-the-box/uitb/bm_models/mobl_arms_index/MoblArmsIndex.py @@ -0,0 +1,37 @@ +from ..base import BaseBMModel + +import numpy as np +import mujoco + + +class MoblArmsIndex(BaseBMModel): + """This model is based on the MoBL ARMS model, see https://simtk.org/frs/?group_id=657 for the original model in OpenSim, + and https://github.com/aikkala/O2MConverter for the MuJoCo converted model. This model is the same as the one in uitb/bm_models/mobl_arms, except + the index finger is flexed and it contains a force sensor. """ + + def __init__(self, model, data, **kwargs): + super().__init__(model, data, **kwargs) + + # Set shoulder variant; use "none" as default, use "patch-v1" for a qualitatively more reasonable looking movements (not thoroughly tested) + self.shoulder_variant = kwargs.get("shoulder_variant", "none") + + def _update(self, model, data): + + # Update shoulder equality constraints + if self.shoulder_variant.startswith("patch"): + model.equality("shoulder1_r2_con").data[1] = \ + -((np.pi - 2 * data.joint('shoulder_elv').qpos) / np.pi) + + if self.shoulder_variant == "patch-v2": + data.joint('shoulder_rot').range[:] = \ + np.array([-np.pi / 2, np.pi / 9]) - \ + 2 * np.min((data.joint('shoulder_elv').qpos, + np.pi - data.joint('shoulder_elv').qpos)) / np.pi \ + * data.joint('elv_angle').qpos + + # Do a forward calculation + mujoco.mj_forward(model, data) + + @classmethod + def _get_floor(cls): + return None diff --git a/hci/user-in-the-box/uitb/bm_models/mobl_arms_index/__init__.py 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+import mujoco + + +class MoblArmsWrist(BaseBMModel): + + def __init__(self, model, data, **kwargs): + super().__init__(model, data, **kwargs) + + # Set shoulder variant + self.shoulder_variant = kwargs.get("shoulder_variant", "patch-v1") + + # Update skull rotation if necessary + if "skull_rotation" in kwargs: + + # Rotate skull + model.body("skull").quat = kwargs["skull_rotation"] + + # Do a forward + mujoco.mj_forward(model, data) + + # Check if there are any bodies whose positions need to be updated + # must be 1) weld equality constraint, and 2) obj2_id refer to the skull body. + # It would be nicer if each equality were updated in their respective classes (like unity headset in the unity + # task), but cannot be done with current ordering of task -> bm model -> perception + cond1 = model.eq_type == mujoco.mjtEq.mjEQ_WELD + cond2 = model.eq_obj2id == mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_BODY, "skull") + idxs = np.where(np.logical_and(cond1, cond2))[0] + + # Initialise pos and quat according to the relpose for each found body. + for idx in idxs: + initialise_pos_and_quat(model, data, "skull", model.eq_data[idx][3:10], + mujoco.mj_id2name(model, mujoco.mjtObj.mjOBJ_BODY, model.eq_obj1id[idx])) + + def _update(self, model, data): + + # Update shoulder equality constraints + if self.shoulder_variant.startswith("patch"): + model.equality("shoulder1_r2_con").data[1] = \ + -((np.pi - 2 * data.joint('shoulder_elv').qpos) / np.pi) + + if self.shoulder_variant == "patch-v2": + data.joint('shoulder_rot').range[:] = \ + np.array([-np.pi / 2, np.pi / 9]) - \ + 2 * np.min((data.joint('shoulder_elv').qpos, + np.pi - data.joint('shoulder_elv').qpos)) / np.pi \ + * data.joint('elv_angle').qpos + + # Do a forward calculation + mujoco.mj_forward(model, data) + + @classmethod + def _get_floor(cls): + return None diff --git a/hci/user-in-the-box/uitb/bm_models/mobl_arms_wrist/__init__.py b/hci/user-in-the-box/uitb/bm_models/mobl_arms_wrist/__init__.py new file mode 100644 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a/hci/user-in-the-box/uitb/configs/grad_small_object_touch.yaml b/hci/user-in-the-box/uitb/configs/grad_small_object_touch.yaml new file mode 100644 index 00000000..1718eeb5 --- /dev/null +++ b/hci/user-in-the-box/uitb/configs/grad_small_object_touch.yaml @@ -0,0 +1,71 @@ +# Graduation demo C: small-object touch task (build with Simulator.build) +simulator_name: grad_small_object_touch +simulator_folder: simulators/grad_small_object_touch + +simulation: + bm_model: + cls: MoblArmsIndex + kwargs: + shoulder_variant: none + effort_model: + cls: Neural + kwargs: + weight: 1e-4 + + task: + cls: SmallObjectTouch + kwargs: + end_effector: [geom, hand_2distph] + shoulder: [body, humphant] + touch_bonus: 0.25 + target_radius_limit: [0.018, 0.045] + max_trials: 8 + stateful_information_encoder: + module: rl.encoders + cls: Identity + + perception_modules: + - cls: vision.FixedEye + kwargs: + resolution: [120, 80] + channels: [3] + pos: "0 0 1.2" + quat: "0.583833 0.399104 -0.399421 -0.583368" + encoder: + module: rl.encoders + cls: SmallCNN + kwargs: + out_features: 256 + - cls: proprioception.BasicWithEndEffectorPosition + kwargs: + end_effector: [geom, hand_2distph] + encoder: + module: rl.encoders + cls: OneLayer + kwargs: + out_features: 128 + run_parameters: + action_sample_freq: 20 + +rl: + algorithm: PPO + policy_type: policies.MultiInputActorCriticPolicyTanhActions + policy_kwargs: + activation_fn: torch.nn.LeakyReLU + net_arch: [256, 256] + log_std_init: 0.0 + features_extractor_class: feature_extractor.FeatureExtractor + normalize_images: false + lr: + function: schedule.linear_schedule + kwargs: + initial_value: 5e-5 + min_value: 1e-7 + threshold: 0.85 + total_timesteps: 5_000_000 + device: cpu + num_workers: 4 + nsteps: 2048 + batch_size: 256 + target_kl: 1.0 + save_freq: 1_000_000 diff --git a/hci/user-in-the-box/uitb/configs/mobl_arms_beatsvr_bimanual.yaml b/hci/user-in-the-box/uitb/configs/mobl_arms_beatsvr_bimanual.yaml new file mode 100644 index 00000000..cef14c3c --- /dev/null +++ b/hci/user-in-the-box/uitb/configs/mobl_arms_beatsvr_bimanual.yaml @@ -0,0 +1,66 @@ +simulator_name: "beatsvr_neural_1e3" +project: "unity" + +simulation: + bm_model: + cls: "MoblArmsBimanualMotor" + kwargs: + shoulder_variant: "none" + #skull_rotation: [0.9961947, 0, 0, -0.0871557] + effort_model: + cls: "Neural" + kwargs: + weight: 1e-3 + task: + cls: "UnityEnv" + kwargs: +# app_args: ["-right_hand_only"] + unity_executable: "apps/beats-vr-linux/build.x86_64" + standalone: true # set to False for debugging (open the app in Unity editor) + # port: 5555 # uncomment for debugging (connects to this port instead of finding a random open one) + time_scale: 5 + max_episode_length_seconds: 10 + gear: "oculus-quest-1" + left_controller_enabled: true + left_controller_body: "hand_l" + left_controller_relpose: [-0.06777743, 0.02224773, 0.00873933, 0.5382897, 0.72938, -0.3715395, 0.200518] + right_controller_body: "hand_r" + right_controller_relpose: [-0.06694103, -0.00423279, 0.00806701, 0.79349534, 0.49238653, -0.24941408, 0.256346] + headset_body: "skull" + headset_relpose: [-0.10703, 0.001594, -0.19141, 0.7071068, 0.7071068, 0, 0] + perception_modules: + - cls: "vision.UnityHeadset" + kwargs: + resolution: [120, 80] # must match dimensions used in unity + channels: [0,2] + buffer: 0.2 + use_buffer_difference: false + - cls: "proprioception.BasicWithEndEffectorPosition" + kwargs: + end_effector: [["geom", "controller-right"], ["geom", "controller-left"]] + run_parameters: + action_sample_freq: 20 + info_keywords: [["AccumulatedErrors", "final"], ["AccumulatedCorrectSlices", "final"]] + +rl: + algorithm: "PPO" + policy_type: "policies.MultiInputActorCriticPolicyTanhActions" + policy_kwargs: + activation_fn: "torch.nn.LeakyReLU" + net_arch: [256, 256] + log_std_init: 0.0 + features_extractor_class: "feature_extractor.FeatureExtractor" + normalize_images: False + lr: + function: "schedule.linear_schedule" + kwargs: + initial_value: 5e-5 + min_value: 1e-7 + threshold: 0.8 + total_timesteps: 100_000_000 + device: "cuda" + num_workers: 10 + nsteps: 4000 + batch_size: 1000 + target_kl: 1.0 + save_freq: 5_000_000 diff --git a/hci/user-in-the-box/uitb/configs/mobl_arms_index_choice_reaction.yaml b/hci/user-in-the-box/uitb/configs/mobl_arms_index_choice_reaction.yaml new file mode 100644 index 00000000..c464acf9 --- /dev/null +++ b/hci/user-in-the-box/uitb/configs/mobl_arms_index_choice_reaction.yaml @@ -0,0 +1,51 @@ +simulator_name: "mobl_arms_index_choice_reaction" + +simulation: + bm_model: + cls: "MoblArmsIndex" + kwargs: + shoulder_variant: "none" + effort_model: + cls: "Neural" + kwargs: + weight: 1e-4 + task: + cls: "ChoiceReaction" + kwargs: + end_effector: ["geom", "hand_2distph"] + shoulder: ["body", "humphant"] + perception_modules: + - cls: "vision.FixedEye" + kwargs: + resolution: [120, 80] + channels: [0, 1, 2, 3] + pos: "0 0 1.2" + quat: "0.583833 0.399104 -0.399421 -0.583368" + - cls: "proprioception.BasicWithEndEffectorPosition" + kwargs: + end_effector: ["geom", "hand_2distph"] + run_parameters: + action_sample_freq: 20 + +rl: + algorithm: "PPO" + policy_type: "policies.MultiInputActorCriticPolicyTanhActions" + policy_kwargs: + activation_fn: "torch.nn.LeakyReLU" + net_arch: [256, 256] + log_std_init: 0.0 + features_extractor_class: "feature_extractor.FeatureExtractor" + normalize_images: False + lr: + function: "schedule.linear_schedule" + kwargs: + initial_value: 5e-5 + min_value: 1e-7 + threshold: 0.8 + total_timesteps: 50_000_000 + device: "cuda" + num_workers: 10 + nsteps: 4000 + batch_size: 500 + target_kl: 1.0 + save_freq: 5_000_000 diff --git a/hci/user-in-the-box/uitb/configs/mobl_arms_index_choice_reaction_HRL.yaml b/hci/user-in-the-box/uitb/configs/mobl_arms_index_choice_reaction_HRL.yaml new file mode 100644 index 00000000..17dcce14 --- /dev/null +++ b/hci/user-in-the-box/uitb/configs/mobl_arms_index_choice_reaction_HRL.yaml @@ -0,0 +1,57 @@ +simulator_name: "mobl_arms_index_choice_reaction_HRL" + +simulation: + bm_model: + cls: "MoblArmsIndex" + kwargs: + shoulder_variant: "none" + effort_model: + cls: "Neural" + kwargs: + weight: 1e-4 + task: + cls: "ChoiceReaction" + kwargs: + end_effector: ["geom", "hand_2distph"] + shoulder: ["body", "humphant"] + perception_modules: + - cls: "vision.FixedEye" + kwargs: + resolution: [120, 80] + channels: [0, 1, 2, 3] + pos: "0 0 1.2" + quat: "0.583833 0.399104 -0.399421 -0.583368" + - cls: "proprioception.BasicWithEndEffectorPosition" + kwargs: + end_effector: ["geom", "hand_2distph"] + run_parameters: + action_sample_freq: 20 + +rl: + algorithm: "PPO" + policy_type: "policies.MultiInputActorCriticPolicyTanhActions" + policy_kwargs: + activation_fn: "torch.nn.LeakyReLU" + net_arch: [256, 256] + log_std_init: 0.0 + features_extractor_class: "feature_extractor.FeatureExtractor" + normalize_images: False + lr: + function: "schedule.linear_schedule" + kwargs: + initial_value: 5e-5 + min_value: 1e-7 + threshold: 0.8 + total_timesteps: 15_000_000 + device: "cuda" + num_workers: 10 + nsteps: 4000 + batch_size: 500 + target_kl: 1.0 + save_freq: 5_000_000 + +llc: + llc_ratio: 1 + simulator_name: "mobl_arms_llc" + checkpoint: "model_270000000_steps.zip" + joints: ["elv_angle", "shoulder_elv", "shoulder_rot", "elbow_flexion", "pro_sup"] diff --git a/hci/user-in-the-box/uitb/configs/mobl_arms_index_pointing.yaml b/hci/user-in-the-box/uitb/configs/mobl_arms_index_pointing.yaml new file mode 100644 index 00000000..85dd6968 --- /dev/null +++ b/hci/user-in-the-box/uitb/configs/mobl_arms_index_pointing.yaml @@ -0,0 +1,71 @@ +simulator_name: "mobl_arms_index_pointing" + +simulation: + + bm_model: + cls: "MoblArmsIndex" + kwargs: + shoulder_variant: "none" + effort_model: + cls: "Neural" + kwargs: + weight: 1e-4 + + task: + cls: "Pointing" + kwargs: + end_effector: ["geom", "hand_2distph"] + shoulder: ["body", "humphant"] + # It's not necessary to define the stateful_information_encoder to Identity encoder, as that is used by default + stateful_information_encoder: + module: "rl.encoders" + cls: "Identity" + + perception_modules: + - cls: "vision.FixedEye" + kwargs: + resolution: [120, 80] + channels: [3] + pos: "0 0 1.2" + quat: "0.583833 0.399104 -0.399421 -0.583368" + # It's not necessary to define the encoder to SmallCNN, as vision.FixedEye uses that by default + encoder: + module: "rl.encoders" + cls: "SmallCNN" + kwargs: + out_features: 256 + - cls: "proprioception.BasicWithEndEffectorPosition" + kwargs: + end_effector: ["geom", "hand_2distph"] + # It's not necessary to define the encoder to OneLayer, as proprioception.BasicWithEndEffectorPosition uses that + # by default + encoder: + module: "rl.encoders" + cls: "OneLayer" + kwargs: + out_features: 128 + run_parameters: + action_sample_freq: 20 + +rl: + algorithm: "PPO" + policy_type: "policies.MultiInputActorCriticPolicyTanhActions" + policy_kwargs: + activation_fn: "torch.nn.LeakyReLU" + net_arch: [256, 256] + log_std_init: 0.0 + features_extractor_class: "feature_extractor.FeatureExtractor" + normalize_images: False + lr: + function: "schedule.linear_schedule" + kwargs: + initial_value: 5e-5 + min_value: 1e-7 + threshold: 0.8 + total_timesteps: 100_000_000 + device: "cuda" + num_workers: 10 + nsteps: 4000 + batch_size: 500 + target_kl: 1.0 + save_freq: 5_000_000 diff --git a/hci/user-in-the-box/uitb/configs/mobl_arms_index_pointing_HRL.yaml b/hci/user-in-the-box/uitb/configs/mobl_arms_index_pointing_HRL.yaml new file mode 100644 index 00000000..d6e08ca6 --- /dev/null +++ b/hci/user-in-the-box/uitb/configs/mobl_arms_index_pointing_HRL.yaml @@ -0,0 +1,71 @@ +simulator_name: "mobl_arms_index_pointing_HRL" + +simulation: + + bm_model: + cls: "MoblArmsIndex" + kwargs: + shoulder_variant: "none" + effort_model: + cls: "Neural" + kwargs: + weight: 1e-4 + + task: + cls: "Pointing" + kwargs: + end_effector: ["geom", "hand_2distph"] + shoulder: ["body", "humphant"] + # It's not necessary to define the stateful_information_encoder to Identity encoder, as that is used by default + stateful_information_encoder: + module: "rl.encoders" + cls: "Identity" + + perception_modules: + - cls: "vision.FixedEye" + kwargs: + resolution: [120, 80] + channels: [3] + pos: "0 0 1.2" + quat: "0.583833 0.399104 -0.399421 -0.583368" + # It's not necessary to define the encoder to SmallCNN, as vision.FixedEye uses that by default + encoder: + module: "rl.encoders" + cls: "SmallCNN" + kwargs: + out_features: 256 + - cls: "proprioception.BasicWithEndEffectorPosition" + kwargs: + end_effector: ["geom", "hand_2distph"] + + run_parameters: + action_sample_freq: 40 + +rl: + algorithm: "PPO" + policy_type: "policies.MultiInputActorCriticPolicyTanhActions" + policy_kwargs: + activation_fn: "torch.nn.LeakyReLU" + net_arch: [256, 256] + log_std_init: 0.0 + features_extractor_class: "feature_extractor.FeatureExtractor" + normalize_images: False + lr: + function: "schedule.linear_schedule" + kwargs: + initial_value: 5e-5 + min_value: 1e-7 + threshold: 0.8 + total_timesteps: 40_000_000 + device: "cuda" + num_workers: 10 + nsteps: 4000 + batch_size: 500 + target_kl: 1.0 + save_freq: 5_000_000 + +llc: + llc_ratio: 1 + simulator_name: "mobl_arms_llc" + checkpoint: "model_270000000_steps.zip" + joints: ["elv_angle", "shoulder_elv", "shoulder_rot", "elbow_flexion", "pro_sup"] diff --git a/hci/user-in-the-box/uitb/configs/mobl_arms_index_pointing_precision.yaml b/hci/user-in-the-box/uitb/configs/mobl_arms_index_pointing_precision.yaml new file mode 100644 index 00000000..fc90d863 --- /dev/null +++ b/hci/user-in-the-box/uitb/configs/mobl_arms_index_pointing_precision.yaml @@ -0,0 +1,70 @@ +# 在标准指向任务基础上缩小目标半径上界，用于评测「精细指向 / 类抓取触点」控制难度。 +# 构建示例: 在 Python 中调用 Simulator.build("uitb/configs/mobl_arms_index_pointing_precision.yaml", output_folder=...) +simulator_name: "mobl_arms_index_pointing_precision" + +simulation: + + bm_model: + cls: "MoblArmsIndex" + kwargs: + shoulder_variant: "none" + effort_model: + cls: "Neural" + kwargs: + weight: 1e-4 + + task: + cls: "Pointing" + kwargs: + end_effector: ["geom", "hand_2distph"] + shoulder: ["body", "humphant"] + target_radius_limit: [0.012, 0.04] + stateful_information_encoder: + module: "rl.encoders" + cls: "Identity" + + perception_modules: + - cls: "vision.FixedEye" + kwargs: + resolution: [120, 80] + channels: [3] + pos: "0 0 1.2" + quat: "0.583833 0.399104 -0.399421 -0.583368" + encoder: + module: "rl.encoders" + cls: "SmallCNN" + kwargs: + out_features: 256 + - cls: "proprioception.BasicWithEndEffectorPosition" + kwargs: + end_effector: ["geom", "hand_2distph"] + encoder: + module: "rl.encoders" + cls: "OneLayer" + kwargs: + out_features: 128 + run_parameters: + action_sample_freq: 20 + +rl: + algorithm: "PPO" + policy_type: "policies.MultiInputActorCriticPolicyTanhActions" + policy_kwargs: + activation_fn: "torch.nn.LeakyReLU" + net_arch: [256, 256] + log_std_init: 0.0 + features_extractor_class: "feature_extractor.FeatureExtractor" + normalize_images: False + lr: + function: "schedule.linear_schedule" + kwargs: + initial_value: 5e-5 + min_value: 1e-7 + threshold: 0.8 + total_timesteps: 100_000_000 + device: "cuda" + num_workers: 10 + nsteps: 4000 + batch_size: 500 + target_kl: 1.0 + save_freq: 5_000_000 diff --git a/hci/user-in-the-box/uitb/configs/mobl_arms_index_remote_driving.yaml b/hci/user-in-the-box/uitb/configs/mobl_arms_index_remote_driving.yaml new file mode 100644 index 00000000..68983630 --- /dev/null +++ b/hci/user-in-the-box/uitb/configs/mobl_arms_index_remote_driving.yaml @@ -0,0 +1,72 @@ +simulator_name: "mobl_arms_index_remote_driving" + +simulation: + bm_model: + cls: "MoblArmsIndex" + kwargs: + shoulder_variant: "patch-v1" + effort_model: + cls: "Neural" + kwargs: + weight: 1e-4 + task: + cls: "RemoteDriving" + kwargs: + end_effector: "hand_2distph" + extratime_length_seconds: 0 + episode_length_seconds: 10 + car_velocity_threshold: 0.05 + reward_function: + cls: "NegativeExpDistance" + kwargs: + joystick_specs: + k: 3.0 + shift: -1.0 + scale: 1.0 + bonus_active: False + target_specs: + k: 3.0 + shift: -1.0 + scale: 0.1 + bonus_active: True + bonus: 1.0 + perception_modules: + - cls: "vision.FixedEye" + kwargs: + resolution: [120, 80] + channels: [0] + buffer: 0.1 + pos: "0 0 1.2" + quat: "0.583833 0.399104 -0.399421 -0.583368" + - cls: "proprioception.BasicWithEndEffectorPosition" + kwargs: + end_effector: ["geom", "hand_2distph"] + - cls: "tactile.RectangularCuboidGrid" + kwargs: + geom: "hand_2distph" + resolution: [0, 1, 2] + run_parameters: + action_sample_freq: 20 + +rl: + algorithm: "PPO" + policy_type: "policies.MultiInputActorCriticPolicyTanhActions" + policy_kwargs: + activation_fn: "torch.nn.LeakyReLU" + net_arch: [256, 256] + log_std_init: 0.0 + features_extractor_class: "feature_extractor.FeatureExtractor" + normalize_images: False + lr: + function: "schedule.linear_schedule" + kwargs: + initial_value: 5e-5 + min_value: 1e-7 + threshold: 0.9 + total_timesteps: 200_000_000 + device: "cuda" + num_workers: 20 + nsteps: 4000 + batch_size: 1000 + target_kl: 1.0 + save_freq: 5_000_000 \ No newline at end of file diff --git a/hci/user-in-the-box/uitb/configs/mobl_arms_index_tracking.yaml b/hci/user-in-the-box/uitb/configs/mobl_arms_index_tracking.yaml new file mode 100644 index 00000000..1fe51fae --- /dev/null +++ b/hci/user-in-the-box/uitb/configs/mobl_arms_index_tracking.yaml @@ -0,0 +1,61 @@ +simulator_name: "mobl_arms_index_tracking" + +simulation: + bm_model: + cls: "MoblArmsIndex" + kwargs: + shoulder_variant: "none" + effort_model: + cls: "Neural" + kwargs: + weight: 1e-4 + task: + cls: "Tracking" + kwargs: + end_effector: ["geom", "hand_2distph"] + shoulder: ["body", "humphant"] + episode_length_seconds: 10 + perception_modules: + - cls: "vision.FixedEye" + kwargs: + resolution: [120, 80] + channels: [3] + buffer: 0.1 + pos: "0 0 1.2" + quat: "0.583833 0.399104 -0.399421 -0.583368" + - cls: "proprioception.BasicWithEndEffectorPosition" + kwargs: + end_effector: ["geom", "hand_2distph"] + run_parameters: + action_sample_freq: 20 + callbacks: + - name: "freq_curriculum" + cls: "rl.sb3.callbacks.LinearCurriculum" + kwargs: + start_value: 0 + end_value: 1 + start_timestep: 40_000_000 + end_timestep: 80_000_000 + +rl: + algorithm: "PPO" + policy_type: "policies.MultiInputActorCriticPolicyTanhActions" + policy_kwargs: + activation_fn: "torch.nn.LeakyReLU" + net_arch: [256, 256] + log_std_init: 0.0 + features_extractor_class: "feature_extractor.FeatureExtractor" + normalize_images: False + lr: + function: "schedule.linear_schedule" + kwargs: + initial_value: 5e-5 + min_value: 1e-7 + threshold: 0.8 + total_timesteps: 100_000_000 + device: "cuda" + num_workers: 10 + nsteps: 4000 + batch_size: 500 + target_kl: 1.0 + save_freq: 5_000_000 diff --git a/hci/user-in-the-box/uitb/configs/mobl_arms_llc.yaml b/hci/user-in-the-box/uitb/configs/mobl_arms_llc.yaml new file mode 100644 index 00000000..63d7889a --- /dev/null +++ b/hci/user-in-the-box/uitb/configs/mobl_arms_llc.yaml @@ -0,0 +1,44 @@ +simulator_name: "mobl_arms_llc" + +simulation: + bm_model: + cls: "MoblArms" + kwargs: + shoulder_variant: "none" + effort_model: + cls: "Neural" + kwargs: + weight: 1e-4 + task: + cls: "LowLevelController" + kwargs: + joints: ["elv_angle", "shoulder_elv", "shoulder_rot", "elbow_flexion", "pro_sup"] + perception_modules: + - cls: "proprioception.BasicWithEndEffectorPosition" + kwargs: + end_effector: ["geom", "hand_2distph"] + run_parameters: + action_sample_freq: 20 + +rl: + algorithm: "PPO" + policy_type: "policies.MultiInputActorCriticPolicyTanhActions" + policy_kwargs: + activation_fn: "torch.nn.LeakyReLU" + net_arch: [256, 256] + log_std_init: 0.0 + features_extractor_class: "feature_extractor.FeatureExtractor" + normalize_images: False + lr: + function: "schedule.linear_schedule" + kwargs: + initial_value: 5e-5 + min_value: 1e-7 + threshold: 0.8 + total_timesteps: 200_000_000 + device: "cuda" + num_workers: 10 + nsteps: 4000 + batch_size: 1000 + target_kl: 1.0 + save_freq: 5_000_000 \ No newline at end of file diff --git a/hci/user-in-the-box/uitb/configs/mobl_arms_llc_4s_50hz.yaml b/hci/user-in-the-box/uitb/configs/mobl_arms_llc_4s_50hz.yaml new file mode 100644 index 00000000..7fc8f487 --- /dev/null +++ b/hci/user-in-the-box/uitb/configs/mobl_arms_llc_4s_50hz.yaml @@ -0,0 +1,46 @@ +simulator_name: "mobl_arms_llc_4s_50hz" + +simulation: + bm_model: + cls: "MoblArms" + kwargs: + shoulder_variant: "none" + effort_model: + cls: "Neural" + kwargs: + weight: 1e-4 + task: + cls: "LowLevelController" + kwargs: + joints: ["elv_angle", "shoulder_elv", "shoulder_rot", "elbow_flexion", "pro_sup"] + perception_modules: + - cls: "proprioception.BasicWithEndEffectorPosition" + kwargs: + end_effector: ["geom", "hand_2distph"] + run_parameters: + action_sample_freq: 50 + max_trial_time: 4 + dwell_time: 0.5 + +rl: + algorithm: "PPO" + policy_type: "policies.MultiInputActorCriticPolicyTanhActions" + policy_kwargs: + activation_fn: "torch.nn.LeakyReLU" + net_arch: [256, 256] + log_std_init: 0.0 + features_extractor_class: "feature_extractor.FeatureExtractor" + normalize_images: False + lr: + function: "schedule.linear_schedule" + kwargs: + initial_value: 5e-5 + min_value: 1e-7 + threshold: 0.8 + total_timesteps: 200_000_000 + device: "cuda" + num_workers: 10 + nsteps: 4000 + batch_size: 1000 + target_kl: 1.0 + save_freq: 5_000_000 diff --git a/hci/user-in-the-box/uitb/configs/mobl_arms_llc_5s.yaml b/hci/user-in-the-box/uitb/configs/mobl_arms_llc_5s.yaml new file mode 100644 index 00000000..22dc285d --- /dev/null +++ b/hci/user-in-the-box/uitb/configs/mobl_arms_llc_5s.yaml @@ -0,0 +1,46 @@ +simulator_name: "mobl_arms_llc_5s" + +simulation: + bm_model: + cls: "MoblArms" + kwargs: + shoulder_variant: "none" + effort_model: + cls: "Neural" + kwargs: + weight: 1e-4 + task: + cls: "LowLevelController" + kwargs: + joints: ["elv_angle", "shoulder_elv", "shoulder_rot", "elbow_flexion", "pro_sup"] + perception_modules: + - cls: "proprioception.BasicWithEndEffectorPosition" + kwargs: + end_effector: ["geom", "hand_2distph"] + run_parameters: + action_sample_freq: 20 + max_trial_time: 5 + dwell_time: 0.5 + +rl: + algorithm: "PPO" + policy_type: "policies.MultiInputActorCriticPolicyTanhActions" + policy_kwargs: + activation_fn: "torch.nn.LeakyReLU" + net_arch: [256, 256] + log_std_init: 0.0 + features_extractor_class: "feature_extractor.FeatureExtractor" + normalize_images: False + lr: + function: "schedule.linear_schedule" + kwargs: + initial_value: 5e-5 + min_value: 1e-7 + threshold: 0.8 + total_timesteps: 200_000_000 + device: "cuda" + num_workers: 10 + nsteps: 4000 + batch_size: 1000 + target_kl: 1.0 + save_freq: 5_000_000 diff --git a/hci/user-in-the-box/uitb/configs/mobl_arms_llc_8s_50hz.yaml b/hci/user-in-the-box/uitb/configs/mobl_arms_llc_8s_50hz.yaml new file mode 100644 index 00000000..e1f3a8d6 --- /dev/null +++ b/hci/user-in-the-box/uitb/configs/mobl_arms_llc_8s_50hz.yaml @@ -0,0 +1,47 @@ +simulator_name: "mobl_arms_llc_8s_50hz" + +simulation: + bm_model: + cls: "MoblArms" + kwargs: + shoulder_variant: "none" + effort_model: + cls: "Neural" + kwargs: + weight: 1e-4 + + task: + cls: "LowLevelController" + kwargs: + joints: ["elv_angle", "shoulder_elv", "shoulder_rot", "elbow_flexion", "pro_sup"] + perception_modules: + - cls: "proprioception.BasicWithEndEffectorPosition" + kwargs: + end_effector: ["geom", "hand_2distph"] + run_parameters: + action_sample_freq: 50 + max_trial_time: 8 + dwell_time: 0.5 + +rl: + algorithm: "PPO" + policy_type: "policies.MultiInputActorCriticPolicyTanhActions" + policy_kwargs: + activation_fn: "torch.nn.LeakyReLU" + net_arch: [256, 256] + log_std_init: 0.0 + features_extractor_class: "feature_extractor.FeatureExtractor" + normalize_images: False + lr: + function: "schedule.linear_schedule" + kwargs: + initial_value: 5e-5 + min_value: 1e-7 + threshold: 0.8 + total_timesteps: 200_000_000 + device: "cuda" + num_workers: 10 + nsteps: 4000 + batch_size: 1000 + target_kl: 1.0 + save_freq: 5_000_000 diff --git a/hci/user-in-the-box/uitb/configs/mobl_arms_llc_trackall_5s.yaml b/hci/user-in-the-box/uitb/configs/mobl_arms_llc_trackall_5s.yaml new file mode 100644 index 00000000..c43b0a49 --- /dev/null +++ b/hci/user-in-the-box/uitb/configs/mobl_arms_llc_trackall_5s.yaml @@ -0,0 +1,48 @@ +simulator_name: "mobl_arms_llc_trackall_5s" + +simulation: + bm_model: + cls: "MoblArms" + kwargs: + shoulder_variant: "none" + effort_model: + cls: "Neural" + kwargs: + weight: 1e-4 + task: + cls: "LowLevelController" + kwargs: + joints: ["elv_angle", "shoulder_elv", "shoulder_rot", "elbow_flexion", "pro_sup"] #deprecated + track_all_joints: True + perception_modules: + - cls: "proprioception.BasicWithEndEffectorPosition" + kwargs: + end_effector: ["geom", "hand_2distph"] + run_parameters: + action_sample_freq: 20 + max_trial_time: 5 + dwell_time: 0.5 + + +rl: + algorithm: "PPO" + policy_type: "policies.MultiInputActorCriticPolicyTanhActions" + policy_kwargs: + activation_fn: "torch.nn.LeakyReLU" + net_arch: [256, 256] + log_std_init: 0.0 + features_extractor_class: "feature_extractor.FeatureExtractor" + normalize_images: False + lr: + function: "schedule.linear_schedule" + kwargs: + initial_value: 5e-5 + min_value: 1e-7 + threshold: 0.8 + total_timesteps: 200_000_000 + device: "cuda" + num_workers: 10 + nsteps: 4000 + batch_size: 1000 + target_kl: 1.0 + save_freq: 5_000_000 diff --git a/hci/user-in-the-box/uitb/configs/mobl_arms_whacamole_adaptive_constrained.yaml b/hci/user-in-the-box/uitb/configs/mobl_arms_whacamole_adaptive_constrained.yaml new file mode 100644 index 00000000..45992bbd --- /dev/null +++ b/hci/user-in-the-box/uitb/configs/mobl_arms_whacamole_adaptive_constrained.yaml @@ -0,0 +1,69 @@ +simulator_name: "whacamole_adaptive_constrained" +project: "unity" + +simulation: + bm_model: + cls: "MoblArmsWrist" + kwargs: + shoulder_variant: "none" + skull_rotation: [0.9961947, 0, 0, -0.0871557] + effort_model: + cls: "CumulativeFatigue3CCr" + kwargs: + weight: 1e-1 + task: + cls: "UnityEnv" + kwargs: + unity_executable: "apps/whac-a-mole-linux/build.x86_64" + app_args: ["-condition", "random", "-adaptive"] + standalone: true # set to False for debugging (open the app in Unity editor) + #port: 5555 # uncomment for debugging (connects to this port instead of finding a random open one) + time_scale: 5 + gear: "oculus-quest-1" + left_controller_enabled: false +# left_controller_body: "hand" +# left_controller_relpose: [-0.06694103, -0.00423279, 0.00806701, 0.79349534, 0.49238653, -0.24941408, 0.256346] + right_controller_body: "hand" + right_controller_relpose: [-0.06694103, -0.00423279, 0.00806701, 0.79349534, 0.49238653, -0.24941408, 0.256346] + headset_body: "skull" + headset_relpose: [-0.10703, 0.001594, -0.19141, 0.7071068, 0.7071068, 0, 0] + perception_modules: + - cls: "vision.UnityHeadset" + kwargs: + resolution: [120, 80] # must match dimensions used in unity + channels: [1,3] + - cls: "proprioception.BasicWithEndEffectorPosition" + kwargs: + end_effector: ["geom", "hand_2distph"] + run_parameters: + action_sample_freq: 20 + info_keywords: [["Points", "final"], ["RewardUnsuccessfulContact", "sum"], ["DistanceReward", "sum"], ["EffortCost", "sum"], + ["failrateTarget0", "final"], ["failrateTarget1", "final"], ["failrateTarget2", "final"], + ["failrateTarget3", "final"], ["failrateTarget4", "final"], ["failrateTarget5", "final"], + ["failrateTarget6", "final"], ["failrateTarget7", "final"], ["failrateTarget8", "final"]] + # callbacks: + # - name: "custom_train_logger" + # cls: "rl.sb3.callbacks.CustomTrainLogCallback" + +rl: + algorithm: "PPO" + policy_type: "policies.MultiInputActorCriticPolicyTanhActions" + policy_kwargs: + activation_fn: "torch.nn.LeakyReLU" + net_arch: [256, 256] + log_std_init: 0.0 + features_extractor_class: "feature_extractor.FeatureExtractor" + normalize_images: False + lr: + function: "schedule.linear_schedule" + kwargs: + initial_value: 5e-5 + min_value: 1e-7 + threshold: 0.8 + total_timesteps: 100_000_000 + device: "cuda" + num_workers: 10 + nsteps: 4000 + batch_size: 1000 + target_kl: 1.0 + save_freq: 5_000_000 diff --git a/hci/user-in-the-box/uitb/configs/mobl_arms_whacamole_adaptive_unconstrained.yaml b/hci/user-in-the-box/uitb/configs/mobl_arms_whacamole_adaptive_unconstrained.yaml new file mode 100644 index 00000000..6ce781de --- /dev/null +++ b/hci/user-in-the-box/uitb/configs/mobl_arms_whacamole_adaptive_unconstrained.yaml @@ -0,0 +1,69 @@ +simulator_name: "whacamole_adaptive_unconstrained" +project: "unity" + +simulation: + bm_model: + cls: "MoblArmsWrist" + kwargs: + shoulder_variant: "none" + skull_rotation: [0.9961947, 0, 0, -0.0871557] + effort_model: + cls: "CumulativeFatigue3CCr" + kwargs: + weight: 1e-1 + task: + cls: "UnityEnv" + kwargs: + unity_executable: "apps/whac-a-mole-linux/build.x86_64" + app_args: ["-condition", "random-unconstrained", "-adaptive"] + standalone: true # set to False for debugging (open the app in Unity editor) + #port: 5555 # uncomment for debugging (connects to this port instead of finding a random open one) + time_scale: 5 + gear: "oculus-quest-1" + left_controller_enabled: false +# left_controller_body: "hand" +# left_controller_relpose: [-0.06694103, -0.00423279, 0.00806701, 0.79349534, 0.49238653, -0.24941408, 0.256346] + right_controller_body: "hand" + right_controller_relpose: [-0.06694103, -0.00423279, 0.00806701, 0.79349534, 0.49238653, -0.24941408, 0.256346] + headset_body: "skull" + headset_relpose: [-0.10703, 0.001594, -0.19141, 0.7071068, 0.7071068, 0, 0] + perception_modules: + - cls: "vision.UnityHeadset" + kwargs: + resolution: [120, 80] # must match dimensions used in unity + channels: [1,3] + - cls: "proprioception.BasicWithEndEffectorPosition" + kwargs: + end_effector: ["geom", "hand_2distph"] + run_parameters: + action_sample_freq: 20 + info_keywords: [["Points", "final"], ["RewardUnsuccessfulContact", "sum"], ["DistanceReward", "sum"], ["EffortCost", "sum"], + ["failrateTarget0", "final"], ["failrateTarget1", "final"], ["failrateTarget2", "final"], + ["failrateTarget3", "final"], ["failrateTarget4", "final"], ["failrateTarget5", "final"], + ["failrateTarget6", "final"], ["failrateTarget7", "final"], ["failrateTarget8", "final"]] + # callbacks: + # - name: "custom_train_logger" + # cls: "rl.sb3.callbacks.CustomTrainLogCallback" + +rl: + algorithm: "PPO" + policy_type: "policies.MultiInputActorCriticPolicyTanhActions" + policy_kwargs: + activation_fn: "torch.nn.LeakyReLU" + net_arch: [256, 256] + log_std_init: 0.0 + features_extractor_class: "feature_extractor.FeatureExtractor" + normalize_images: False + lr: + function: "schedule.linear_schedule" + kwargs: + initial_value: 5e-5 + min_value: 1e-7 + threshold: 0.8 + total_timesteps: 100_000_000 + device: "cuda" + num_workers: 10 + nsteps: 4000 + batch_size: 1000 + target_kl: 1.0 + save_freq: 5_000_000 diff --git a/hci/user-in-the-box/uitb/configs/mobl_arms_whacamole_constrained.yaml b/hci/user-in-the-box/uitb/configs/mobl_arms_whacamole_constrained.yaml new file mode 100644 index 00000000..5178a321 --- /dev/null +++ b/hci/user-in-the-box/uitb/configs/mobl_arms_whacamole_constrained.yaml @@ -0,0 +1,66 @@ +simulator_name: "whacamole_constrained" +project: "unity" + +simulation: + bm_model: + cls: "MoblArmsWrist" + kwargs: + shoulder_variant: "none" + skull_rotation: [0.9961947, 0, 0, -0.0871557] + effort_model: + cls: "CumulativeFatigue3CCr" + kwargs: + weight: 1e-1 + task: + cls: "UnityEnv" + kwargs: + unity_executable: "apps/whac-a-mole-linux/build.x86_64" + app_args: ["-condition", "random"] + standalone: true # set to False for debugging (open the app in Unity editor) + #port: 5555 # uncomment for debugging (connects to this port instead of finding a random open one) + time_scale: 5 + gear: "oculus-quest-1" + left_controller_enabled: false +# left_controller_body: "hand" +# left_controller_relpose: [-0.06694103, -0.00423279, 0.00806701, 0.79349534, 0.49238653, -0.24941408, 0.256346] + right_controller_body: "hand" + right_controller_relpose: [-0.06694103, -0.00423279, 0.00806701, 0.79349534, 0.49238653, -0.24941408, 0.256346] + headset_body: "skull" + headset_relpose: [-0.10703, 0.001594, -0.19141, 0.7071068, 0.7071068, 0, 0] + perception_modules: + - cls: "vision.UnityHeadset" + kwargs: + resolution: [120, 80] # must match dimensions used in unity + channels: [1,3] + - cls: "proprioception.BasicWithEndEffectorPosition" + kwargs: + end_effector: ["geom", "hand_2distph"] + run_parameters: + action_sample_freq: 20 + info_keywords: [["Points", "final"], ["RewardUnsuccessfulContact", "sum"], ["DistanceReward", "sum"], ["EffortCost", "sum"], + ["failrateTarget0", "final"], ["failrateTarget1", "final"], ["failrateTarget2", "final"], + ["failrateTarget3", "final"], ["failrateTarget4", "final"], ["failrateTarget5", "final"], + ["failrateTarget6", "final"], ["failrateTarget7", "final"], ["failrateTarget8", "final"]] + +rl: + algorithm: "PPO" + policy_type: "policies.MultiInputActorCriticPolicyTanhActions" + policy_kwargs: + activation_fn: "torch.nn.LeakyReLU" + net_arch: [256, 256] + log_std_init: 0.0 + features_extractor_class: "feature_extractor.FeatureExtractor" + normalize_images: False + lr: + function: "schedule.linear_schedule" + kwargs: + initial_value: 5e-5 + min_value: 1e-7 + threshold: 0.8 + total_timesteps: 100_000_000 + device: "cuda" + num_workers: 10 + nsteps: 4000 + batch_size: 1000 + target_kl: 1.0 + save_freq: 5_000_000 diff --git a/hci/user-in-the-box/uitb/configs/mobl_arms_whacamole_unconstrained.yaml b/hci/user-in-the-box/uitb/configs/mobl_arms_whacamole_unconstrained.yaml new file mode 100644 index 00000000..5d6ffcdd --- /dev/null +++ b/hci/user-in-the-box/uitb/configs/mobl_arms_whacamole_unconstrained.yaml @@ -0,0 +1,66 @@ +simulator_name: "whacamole_unconstrained" +project: "unity" + +simulation: + bm_model: + cls: "MoblArmsWrist" + kwargs: + shoulder_variant: "none" + skull_rotation: [0.9961947, 0, 0, -0.0871557] + effort_model: + cls: "CumulativeFatigue3CCr" + kwargs: + weight: 1e-1 + task: + cls: "UnityEnv" + kwargs: + unity_executable: "apps/whac-a-mole-linux/build.x86_64" + app_args: ["-condition", "random-unconstrained"] + standalone: true # set to False for debugging (open the app in Unity editor) + #port: 5555 # uncomment for debugging (connects to this port instead of finding a random open one) + time_scale: 5 + gear: "oculus-quest-1" + left_controller_enabled: false +# left_controller_body: "hand" +# left_controller_relpose: [-0.06694103, -0.00423279, 0.00806701, 0.79349534, 0.49238653, -0.24941408, 0.256346] + right_controller_body: "hand" + right_controller_relpose: [-0.06694103, -0.00423279, 0.00806701, 0.79349534, 0.49238653, -0.24941408, 0.256346] + headset_body: "skull" + headset_relpose: [-0.10703, 0.001594, -0.19141, 0.7071068, 0.7071068, 0, 0] + perception_modules: + - cls: "vision.UnityHeadset" + kwargs: + resolution: [120, 80] # must match dimensions used in unity + channels: [1,3] + - cls: "proprioception.BasicWithEndEffectorPosition" + kwargs: + end_effector: ["geom", "hand_2distph"] + run_parameters: + action_sample_freq: 20 + info_keywords: [["Points", "final"], ["RewardUnsuccessfulContact", "sum"], ["DistanceReward", "sum"], ["EffortCost", "sum"], + ["failrateTarget0", "final"], ["failrateTarget1", "final"], ["failrateTarget2", "final"], + ["failrateTarget3", "final"], ["failrateTarget4", "final"], ["failrateTarget5", "final"], + ["failrateTarget6", "final"], ["failrateTarget7", "final"], ["failrateTarget8", "final"]] + +rl: + algorithm: "PPO" + policy_type: "policies.MultiInputActorCriticPolicyTanhActions" + policy_kwargs: + activation_fn: "torch.nn.LeakyReLU" + net_arch: [256, 256] + log_std_init: 0.0 + features_extractor_class: "feature_extractor.FeatureExtractor" + normalize_images: False + lr: + function: "schedule.linear_schedule" + kwargs: + initial_value: 5e-5 + min_value: 1e-7 + threshold: 0.8 + total_timesteps: 100_000_000 + device: "cuda" + num_workers: 10 + nsteps: 4000 + batch_size: 1000 + target_kl: 1.0 + save_freq: 5_000_000 diff --git a/hci/user-in-the-box/uitb/simulator.py b/hci/user-in-the-box/uitb/simulator.py new file mode 100644 index 00000000..954b06b7 --- /dev/null +++ b/hci/user-in-the-box/uitb/simulator.py @@ -0,0 +1,816 @@ +import gymnasium as gym +from gymnasium import spaces +import pygame +import mujoco +import os +import numpy as np +import scipy +import matplotlib +import sys +import importlib +import shutil +import inspect +import pathlib +from datetime import datetime +import copy +from collections import defaultdict +import xml.etree.ElementTree as ET + +from stable_baselines3 import PPO #required to load a trained LLC policy in HRL approach + +from .perception.base import Perception +from .utils.rendering import Camera, Context +from .utils.functions import output_path, parent_path, is_suitable_package_name, parse_yaml, write_yaml + + +class Simulator(gym.Env): + """ + The Simulator class contains functionality to build a standalone Python package from a config file. The built package + integrates a biomechanical model, a task model, and a perception model into one simulator that implements a gym.Env + interface. + """ + + # May be useful for later, the three digit number suffix is of format X.Y.Z where X is a major version. + version = "1.1.0" + + @classmethod + def get_class(cls, *args): + """ Returns a class from given strings. The last element in args should contain the class name. """ + # TODO check for incorrect module names etc + modules = ".".join(args[:-1]) + if "." in args[-1]: + splitted = args[-1].split(".") + if modules == "": + modules = ".".join(splitted[:-1]) + else: + modules += "." + ".".join(splitted[:-1]) + cls_name = splitted[-1] + else: + cls_name = args[-1] + module = cls.get_module(modules) + return getattr(module, cls_name) + + @classmethod + def get_module(cls, *args): + """ Returns a module from given strings. """ + src = __name__.split(".")[0] + modules = ".".join(args) + return importlib.import_module(src + "." + modules) + + @classmethod + def build(cls, config): + """ Builds a simulator based on a config. The input 'config' may be a dict (parsed from YAML) or path to a YAML file + + Args: + config: + - A dict containing configuration information. See example configs in folder uitb/configs/ + - A path to a config file + """ + + # If config is a path to the config file, parse it first + if isinstance(config, str): + if not os.path.isfile(config): + raise FileNotFoundError(f"Given config file {config} does not exist") + config = parse_yaml(config) + + # Make sure required things are defined in config + assert "simulation" in config, "Simulation specs (simulation) must be defined in config" + assert "bm_model" in config["simulation"], "Biomechanical model (bm_model) must be defined in config" + assert "task" in config["simulation"], "task (task) must be defined in config" + + assert "run_parameters" in config["simulation"], "Run parameters (run_parameters) must be defined in config" + run_parameters = config["simulation"]["run_parameters"].copy() + assert "action_sample_freq" in run_parameters, "Action sampling frequency (action_sample_freq) must be defined " \ + "in run parameters" + + # Set simulator version + config["version"] = cls.version + + # Save generated simulators to uitb/simulators + if "simulator_folder" in config: + simulator_folder = os.path.normpath(config["simulator_folder"]) + else: + simulator_folder = os.path.join(output_path(), config["simulator_name"]) + + # If 'package_name' is not defined use 'simulator_name' + if "package_name" not in config: + config["package_name"] = config["simulator_name"] + if not is_suitable_package_name(config["package_name"]): + raise NameError("Package name defined in the config file (either through 'package_name' or 'simulator_name') is " + "not a suitable Python package name. Use only lower-case letters and underscores instead of " + "spaces, and the name cannot start with a number.") + + # The name used in gym has a suffix -v0 + config["gym_name"] = "uitb:" + config["package_name"] + "-v0" + + # Create a simulator in the simulator folder + cls._clone(simulator_folder, config["package_name"]) + + # Load task class + task_cls = cls.get_class("tasks", config["simulation"]["task"]["cls"]) + task_cls.clone(simulator_folder, config["package_name"], app_executable=config["simulation"]["task"].get("kwargs", {}).get("unity_executable", None)) + simulation = task_cls.initialise(config["simulation"]["task"].get("kwargs", {})) + + # Set some compiler options + # TODO: would make more sense to have a separate "environment" class / xml file that defines all these defaults, + # including e.g. cameras, lighting, etc., so that they could be easily changed. Task and biomechanical model would + # be integrated into that object + compiler_defaults = {"inertiafromgeom": "auto", "balanceinertia": "true", "boundmass": "0.001", + "boundinertia": "0.001", "inertiagrouprange": "0 1"} + compiler = simulation.find("compiler") + if compiler is None: + ET.SubElement(simulation, "compiler", compiler_defaults) + else: + compiler.attrib.update(compiler_defaults) + + # Load biomechanical model class + bm_cls = cls.get_class("bm_models", config["simulation"]["bm_model"]["cls"]) + bm_cls.clone(simulator_folder, config["package_name"]) + bm_cls.insert(simulation) + + # Add perception modules + for module_cfg in config["simulation"].get("perception_modules", []): + module_cls = cls.get_class("perception", module_cfg["cls"]) + module_kwargs = module_cfg.get("kwargs", {}) + module_cls.clone(simulator_folder, config["package_name"]) + module_cls.insert(simulation, **module_kwargs) + + # Clone also RL library files so the package will be completely standalone + rl_cls = cls.get_class("rl", config["rl"]["algorithm"]) + rl_cls.clone(simulator_folder, config["package_name"]) + + # TODO read the xml file directly from task.getroot() instead of writing it to a file first; need to input a dict + # of assets to mujoco.MjModel.from_xml_path + simulation_file = os.path.join(simulator_folder, config["package_name"], "simulation") + with open(simulation_file+".xml", 'w') as file: + simulation.write(file, encoding='unicode') + + # Initialise the simulator + model, _, _, _, _, _ = \ + cls._initialise(config, simulator_folder, {**run_parameters, "build": True}) + + # Now that simulator has been initialised, everything should be set. Now we want to save the xml file again, but + # mujoco only is able to save the latest loaded xml file (which is either the task or bm model xml files which are + # are read in their __init__ functions), hence we need to read the file we've generated again before saving the + # modified model + mujoco.MjModel.from_xml_path(simulation_file+".xml") + mujoco.mj_saveLastXML(simulation_file+".xml", model) + + # Save the modified model also as binary for faster loading + mujoco.mj_saveModel(model, simulation_file+".mjcf", None) + + # Input built time into config + config["built"] = datetime.now().strftime("%Y-%m-%d %H:%M:%S") + + # Save config + write_yaml(config, os.path.join(simulator_folder, "config.yaml")) + + return simulator_folder + + @classmethod + def _clone(cls, simulator_folder, package_name): + """ Create a folder for the simulator being built, and copy or create relevant files. + + Args: + simulator_folder: Location of the simulator. + package_name: Name of the simulator (which is a python package). + """ + + # Create the folder + dst = os.path.join(simulator_folder, package_name) + os.makedirs(dst, exist_ok=True) + + # Copy simulator + src = pathlib.Path(inspect.getfile(cls)) + shutil.copyfile(src, os.path.join(dst, src.name)) + + # Create __init__.py with env registration + with open(os.path.join(dst, "__init__.py"), "w") as file: + file.write("from .simulator import Simulator\n\n") + file.write("from gymnasium.envs.registration import register\n") + file.write("import pathlib\n\n") + file.write("module_folder = pathlib.Path(__file__).parent\n") + file.write("simulator_folder = module_folder.parent\n") + file.write("kwargs = {'simulator_folder': simulator_folder}\n") + file.write("register(id=f'{module_folder.stem}-v0', entry_point=f'{module_folder.stem}.simulator:Simulator', kwargs=kwargs)\n") + + # Copy utils + shutil.copytree(os.path.join(parent_path(src), "utils"), os.path.join(simulator_folder, package_name, "utils"), + dirs_exist_ok=True) + # Copy train + shutil.copytree(os.path.join(parent_path(src), "train"), os.path.join(simulator_folder, package_name, "train"), + dirs_exist_ok=True) + # Copy test + shutil.copytree(os.path.join(parent_path(src), "test"), os.path.join(simulator_folder, package_name, "test"), + dirs_exist_ok=True) + + @classmethod + def _initialise(cls, config, simulator_folder, run_parameters): + """ Initialise a simulator -- i.e., create a MjModel, MjData, and initialise all necessary variables. + + Args: + config: A config dict. + simulator_folder: Location of the simulator. + run_parameters: Important run time variables that may also be used to override parameters. + """ + + # Get task class and kwargs + task_cls = cls.get_class("tasks", config["simulation"]["task"]["cls"]) + task_kwargs = config["simulation"]["task"].get("kwargs", {}) + + # Get bm class and kwargs + bm_cls = cls.get_class("bm_models", config["simulation"]["bm_model"]["cls"]) + bm_kwargs = config["simulation"]["bm_model"].get("kwargs", {}) + + # Initialise perception modules + perception_modules = {} + for module_cfg in config["simulation"].get("perception_modules", []): + module_cls = cls.get_class("perception", module_cfg["cls"]) + module_kwargs = module_cfg.get("kwargs", {}) + perception_modules[module_cls] = module_kwargs + + # Get simulation file + simulation_file = os.path.join(simulator_folder, config["package_name"], "simulation") + + # Load the mujoco model; try first with the binary model (faster, contains some parameters that may be lost when + # re-saving xml files like body mass). For some reason the binary model fails to load in some situations (like + # when the simulator has been built on a different computer) + # TODO loading from binary disabled, weird problems (like a body not found from model when loaded from binary, but + # found correctly when model loaded from xml) + # try: + # model = mujoco.MjModel.from_binary_path(simulation_file + ".mjcf") + # except: # TODO what was the exception type + model = mujoco.MjModel.from_xml_path(simulation_file + ".xml") + + # Initialise MjData + data = mujoco.MjData(model) + + # Add frame skip and dt to run parameters + run_parameters["frame_skip"] = int(1 / (model.opt.timestep * run_parameters["action_sample_freq"])) + run_parameters["dt"] = model.opt.timestep*run_parameters["frame_skip"] + + # Initialise a rendering context, required for e.g. some vision modules + run_parameters["rendering_context"] = Context(model, + max_resolution=run_parameters.get("max_resolution", [1280, 960])) + + # Initialise callbacks + callbacks = {} + for cb in run_parameters.get("callbacks", []): + callbacks[cb["name"]] = cls.get_class(cb["cls"])(cb["name"], **cb["kwargs"]) + + # Now initialise the actual classes; model and data are input to the inits so that stuff can be modified if needed + # (e.g. move target to a specific position wrt to a body part) + task = task_cls(model, data, **{**task_kwargs, **callbacks, **run_parameters}) + bm_model = bm_cls(model, data, **{**bm_kwargs, **callbacks, **run_parameters}) + perception = Perception(model, data, bm_model, perception_modules, {**callbacks, **run_parameters}) + + return model, data, task, bm_model, perception, callbacks + + @classmethod + def get(cls, simulator_folder, render_mode="rgb_array", render_mode_perception="embed", render_show_depths=False, run_parameters=None, use_cloned=True): + """ Returns a Simulator that is located in given folder. + + Args: + simulator_folder: Location of the simulator. + render_mode: Whether render() will return a single rgb array (render_mode="rgb_array"), + a list of rgb arrays (render_mode="rgb_array_list"; + adapted from https://github.com/openai/gym/blob/master/gym/wrappers/render_collection.py), + or None while the frames in a separate PyGame window are updated directly when calling + step() or reset() (render_mode="human"; + adapted from https://github.com/openai/gym/blob/master/gym/wrappers/human_rendering.py)). + render_mode_perception: Whether images of visual perception modules should be directly embedded into main camera view ("embed"), stored as separate videos ("separate"), or not used at all [which allows to watch vision in Unity Editor if debug mode is enabled/standalone app is disabled] (None) + render_show_depths: Whether depth images of visual perception modules should be included in rendering. + run_parameters: Can be used to override parameters during run time. + use_cloned: Can be useful for debugging. Set to False to use original files instead of the ones that have been + cloned/copied during building phase. + """ + + # Read config file + config_file = os.path.join(simulator_folder, "config.yaml") + try: + config = parse_yaml(config_file) + except: + raise FileNotFoundError(f"Could not open file {config_file}") + + # Make sure the simulator has been built + if "built" not in config: + raise RuntimeError("Simulator has not been built") + + # Make sure simulator_folder is in path (used to import gen_cls_cloned) + if simulator_folder not in sys.path: + sys.path.insert(0, simulator_folder) + + # Get Simulator class + gen_cls_cloned = getattr(importlib.import_module(config["package_name"]), "Simulator") + if hasattr(gen_cls_cloned, "version"): + _legacy_mode = False + gen_cls_cloned_version = gen_cls_cloned.version.split("-v")[-1] + else: + _legacy_mode = True + gen_cls_cloned_version = gen_cls_cloned.id.split("-v")[-1] #deprecated + if use_cloned: + gen_cls = gen_cls_cloned + else: + gen_cls = cls + gen_cls_version = gen_cls.version.split("-v")[-1] + + if gen_cls_version.split(".")[0] > gen_cls_cloned_version.split(".")[0]: + raise RuntimeError( + f"""Severe version mismatch. The simulator '{config["simulator_name"]}' has version {gen_cls_cloned_version}, while your uitb package has version {gen_cls_version}.\nTo run with version {gen_cls_cloned_version}, set 'use_cloned=True'.""") + elif gen_cls_version.split(".")[1] > gen_cls_cloned_version.split(".")[1]: + print( + f"""WARNING: Version mismatch. The simulator '{config["simulator_name"]}' has version {gen_cls_cloned_version}, while your uitb package has version {gen_cls_version}.\nTo run with version {gen_cls_version}, set 'use_cloned=True'.""") + + if _legacy_mode: + _simulator = gen_cls(simulator_folder, run_parameters=run_parameters) + else: + try: + _simulator = gen_cls(simulator_folder, render_mode=render_mode, render_mode_perception=render_mode_perception, render_show_depths=render_show_depths, + run_parameters=run_parameters) + except TypeError: + _simulator = gen_cls(simulator_folder, render_mode=render_mode, render_show_depths=render_show_depths, + run_parameters=run_parameters) + + # Return Simulator object + return _simulator + + def __init__(self, simulator_folder, render_mode="rgb_array", render_mode_perception="embed", render_show_depths=False, run_parameters=None): + """ Initialise a new `Simulator`. + + Args: + simulator_folder: Location of a simulator. + render_mode: Whether render() will return a single rgb array (render_mode="rgb_array"), + a list of rgb arrays (render_mode="rgb_array_list"; + adapted from https://github.com/openai/gym/blob/master/gym/wrappers/render_collection.py), + or None while the frames in a separate PyGame window are updated directly when calling + step() or reset() (render_mode="human"; + adapted from https://github.com/openai/gym/blob/master/gym/wrappers/human_rendering.py)). + render_mode_perception: Whether images of visual perception modules should be directly embedded into main camera view ("embed"), stored as separate videos ("separate"), or not used at all [which allows to watch vision in Unity Editor if debug mode is enabled/standalone app is disabled] (None) + render_show_depths: Whether depth images of visual perception modules should be included in rendering. + run_parameters: Can be used to override parameters during run time. + """ + + # Make sure simulator exists + if not os.path.exists(simulator_folder): + raise FileNotFoundError(f"Simulator folder {simulator_folder} does not exists") + self._simulator_folder = simulator_folder + + # Read config + self._config = parse_yaml(os.path.join(self._simulator_folder, "config.yaml")) + + # Get run parameters: these parameters can be used to override parameters used during training + self._run_parameters = self._config["simulation"]["run_parameters"].copy() + self._run_parameters.update(run_parameters or {}) + + # Initialise simulation + self._model, self._data, self.task, self.bm_model, self.perception, self.callbacks = \ + self._initialise(self._config, self._simulator_folder, self._run_parameters) + + # Set action space TODO for now we assume all actuators have control signals between [-1, 1] + self.action_space = self._initialise_action_space() + + # Set observation space + self.observation_space = self._initialise_observation_space() + + # Collect some episode statistics + self._episode_statistics = {"length (seconds)": 0, "length (steps)": 0, "reward": 0} + + # Initialise viewer + self._GUI_camera = Camera(self._run_parameters["rendering_context"], self._model, self._data, camera_id='for_testing', + dt=self._run_parameters["dt"]) + + self._render_mode = render_mode + self._render_mode_perception = render_mode_perception #whether perception camera views should be directly embedded into camera view of camera_id ("embed"), stored in self._render_stack_perception ("separate"), or not used at all "separate"), or not used at all [which allows to watch vision in Unity Editor if debug mode is enabled/standalone app is disabled] (None) + self._render_stack = [] #only used if render_mode == "rgb_array_list" + self._render_stack_perception = defaultdict(list) #only used if render_mode == "rgb_array_list" and self._render_mode_perception == "separate" + self._render_stack_pop = True #If True, clear the render stack after .render() is called. + self._render_stack_clean_at_reset = True #If True, clear the render stack when .reset() is called. + self._render_show_depths = render_show_depths #If True, depth images of visual perception modules are included in GUI rendering. + self._render_screen_size = None #only used if render_mode == "human" + self._render_window = None #only used if render_mode == "human" + self._render_clock = None #only used if render_mode == "human" + + if 'llc' in self.config: #if HRL approach is used + llc_simulator_folder = os.path.join(output_path(), self.config["llc"]["simulator_name"]) + if llc_simulator_folder not in sys.path: + sys.path.insert(0, llc_simulator_folder) + if not os.path.exists(llc_simulator_folder): + raise FileNotFoundError(f"Simulator folder {llc_simulator_folder} does not exists") + llccheckpoint_dir = os.path.join(llc_simulator_folder, 'checkpoints') + # Load policy TODO should create a load method for uitb.rl.BaseRLModel + print(f'Loading model: {os.path.join(llccheckpoint_dir, self.config["llc"]["checkpoint"])}\n') + self.llc_model = PPO.load(os.path.join(llccheckpoint_dir, self.config["llc"]["checkpoint"])) + self.action_space = self._initialise_HRL_action_space() + self._max_steps = self.config["llc"]["llc_ratio"] + self._dwell_threshold = int(0.5*self._max_steps) + self._target_radius = 0.05 + self._independent_dofs = [] + self._independent_joints = [] + joints = self.config["llc"]["joints"] + for joint in joints: + joint_id = mujoco.mj_name2id(self._model, mujoco.mjtObj.mjOBJ_JOINT, joint) + if self._model.jnt_type[joint_id] not in [mujoco.mjtJoint.mjJNT_HINGE, mujoco.mjtJoint.mjJNT_SLIDE]: + raise NotImplementedError(f"Only 'hinge' and 'slide' joints are supported, joint " + f"{joint} is of type {mujoco.mjtJoint(self._model.jnt_type[joint_id]).name}") + self._independent_dofs.append(self._model.jnt_qposadr[joint_id]) + self._independent_joints.append(joint_id) + self._jnt_range = self._model.jnt_range[self._independent_joints] + + + #To normalize joint ranges for llc + def _normalise_qpos(self, qpos): + # Normalise to [0, 1] + qpos = (qpos - self._jnt_range[:, 0]) / (self._jnt_range[:, 1] - self._jnt_range[:, 0]) + # Normalise to [-1, 1] + qpos = (qpos - 0.5) * 2 + return qpos + + def _initialise_action_space(self): + """ Initialise action space. """ + num_actuators = self.bm_model.nu + self.perception.nu + actuator_limits = np.ones((num_actuators,2)) * np.array([-1.0, 1.0]) + return spaces.Box(low=np.float32(actuator_limits[:, 0]), high=np.float32(actuator_limits[:, 1])) + + def _initialise_HRL_action_space(self): + bm_nu = self.bm_model.nu + bm_jnt_range = np.ones((bm_nu,2)) * np.array([-1.0, 1.0]) + perception_nu = self.perception.nu + perception_jnt_range = np.ones((perception_nu,2)) * np.array([-1.0, 1.0]) + jnt_range = np.concatenate((bm_jnt_range, perception_jnt_range), axis=0) + action_space = gym.spaces.Box(low=jnt_range[:,0], high=jnt_range[:,1]) + return action_space + + def _initialise_observation_space(self): + """ Initialise observation space. """ + observation = self.get_observation() + obs_dict = dict() + for module in self.perception.perception_modules: + obs_dict[module.modality] = spaces.Box(dtype=np.float32, **module.get_observation_space_params()) + if "stateful_information" in observation: + obs_dict["stateful_information"] = spaces.Box(dtype=np.float32, + **self.task.get_stateful_information_space_params()) + return spaces.Dict(obs_dict) + + def _get_qpos(self, model, data): + qpos = data.qpos[self._independent_dofs].copy() + qpos = self._normalise_qpos(qpos) + return qpos + + def step(self, action): + """ Step simulation forward with given actions. + + Args: + action: Actions sampled from a policy. Limited to range [-1, 1]. + """ + if 'llc' in self.config: #if HRL approach is used + self.task._target_qpos = action # action to pass to LLC + self._steps = 0 # Initialise loop control to 0 + #acc_reward = 0 #To be used when rewards are being accumulated in llc steps + + while self._steps < self._max_steps: # loop for llc controls based on llc_ratio + + llc_action, _states = self.llc_model.predict(self.get_llcobservation(action), deterministic=True) # Get BM action from LLC + # Set control for the bm model + self.bm_model.set_ctrl(self._model, self._data, llc_action) + + # Set control for perception modules (e.g. eye movements) + self.perception.set_ctrl(self._model, self._data, action[self.bm_model.nu:]) + + # Advance the simulation + mujoco.mj_step(self._model, self._data, nstep=int(self._run_parameters["frame_skip"])) # Number of timesteps to skip for LLC + + # Update bm model (e.g. update constraints); updates also effort model + self.bm_model.update(self._model, self._data) + + # Update perception modules + self.perception.update(self._model, self._data) + + dist = np.abs(action - self._get_qpos(self._model, self._data)) + + # Update environment + reward, terminated, truncated, info = self.task.update(self._model, self._data) + + # Add an effort cost to reward + reward -= self.bm_model.get_effort_cost(self._model, self._data) + + #acc_reward += reward #To be used when rewards are being accumulated in llc steps + + # Get observation + obs = self.get_observation() + + # Add frame to stack + if self._render_mode == "rgb_array_list": + self._render_stack.append(self._GUI_rendering()) + elif self._render_mode == "human": + self._GUI_rendering_pygame() + + if truncated or terminated: + break + + # Pointing + if "target_spawned" in info: + if info["target_spawned"] or info["target_hit"]: + break + + # Choice Reaction + elif "new_button_generated" in info: + if info["new_button_generated"] or info["target_hit"]: + break + + self._steps += 1 + if np.all(dist < self._target_radius): + break + + return obs, reward, terminated, truncated, info + + else: + # Set control for the bm model + self.bm_model.set_ctrl(self._model, self._data, action[:self.bm_model.nu]) + + # Set control for perception modules (e.g. eye movements) + self.perception.set_ctrl(self._model, self._data, action[self.bm_model.nu:]) + + # Advance the simulation + mujoco.mj_step(self._model, self._data, nstep=self._run_parameters["frame_skip"]) + + # Update bm model (e.g. update constraints); updates also effort model + self.bm_model.update(self._model, self._data) + + # Update perception modules + self.perception.update(self._model, self._data) + + # Update environment + reward, terminated, truncated, info = self.task.update(self._model, self._data) + + # Add an effort cost to reward + effort_cost = self.bm_model.get_effort_cost(self._model, self._data) + info["EffortCost"] = effort_cost + reward -= effort_cost + + # Get observation + obs = self.get_observation(info) + + # Add frame to stack + if self._render_mode == "rgb_array_list": + self._render_stack.append(self._GUI_rendering()) + elif self._render_mode == "human": + self._GUI_rendering_pygame() + + return obs, reward, terminated, truncated, info + + + def get_observation(self, info=None): + """ Returns an observation from the perception model. + + Returns: + A dict with observations from individual perception modules. May also contain stateful information from a task. + """ + + # Get observation from perception + observation = self.perception.get_observation(self._model, self._data, info) + + # Add any stateful information that is required + stateful_information = self.task.get_stateful_information(self._model, self._data) + if stateful_information.size > 0: #TODO: define stateful_information (and encoder) that can be used as default, if no stateful information is provided (zero-size arrays do not work with sb3 currently...) + observation["stateful_information"] = stateful_information + + return observation + + def get_llcobservation(self,action): + """ Returns an observation from the perception model. + + Returns: + A dict with observations from individual perception modules. May also contain stateful information from a task. + """ + + # Get observation from perception + observation = self.perception.get_observation(self._model, self._data) + + # Remove Vision for LLC + observation.pop("vision") + qpos = self._get_qpos(self._model, self._data) + qpos_diff = action - qpos + + # Stateful Information for LLC policy + stateful_information = qpos_diff + if stateful_information is not None: + observation["stateful_information"] = stateful_information + + return observation + + + def reset(self, seed=None): + """ Reset the simulator and return an observation. """ + + super().reset(seed=seed) + + # Reset sim + mujoco.mj_resetData(self._model, self._data) + + # Reset all models + self.bm_model.reset(self._model, self._data) + self.perception.reset(self._model, self._data) + info = self.task.reset(self._model, self._data) + + # Do a forward so everything will be set + mujoco.mj_forward(self._model, self._data) + + if self._render_mode == "rgb_array_list": + if self._render_stack_clean_at_reset: + self._render_stack = [] + self._render_stack_perception = defaultdict(list) + self._render_stack.append(self._GUI_rendering()) + elif self._render_mode == "human": + self._GUI_rendering_pygame() + + return self.get_observation(), info + + def render(self): + if self._render_mode == "rgb_array_list": + render_stack = self._render_stack + if self._render_stack_pop: + self._render_stack = [] + return render_stack + elif self._render_mode == "rgb_array": + return self._GUI_rendering() + else: + return None + + def get_render_stack_perception(self): + render_stack_perception = self._render_stack_perception + # if self._render_stack_pop: + # self._render_stack_perception = defaultdict(list) + return render_stack_perception + + def _GUI_rendering(self): + # Grab an image from the 'for_testing' camera and grab all GUI-prepared images from included visual perception modules, and display them 'picture-in-picture' + + # Grab images + img, _ = self._GUI_camera.render() + + if self._render_mode_perception == "embed": + # Embed perception camera images into main camera image + + # perception_camera_images = [rgb_or_depth_array for camera in self.perception.cameras + # for rgb_or_depth_array in camera.render() if rgb_or_depth_array is not None] + perception_camera_images = self.perception.get_renders() + + # TODO: add text annotations to perception camera images + if len(perception_camera_images) > 0: + _img_size = img.shape[:2] #(height, width) + + + # Vertical alignment of perception camera images, from bottom right to top right + ## TODO: allow for different inset locations + _desired_subwindow_height = np.round(_img_size[0] / len(perception_camera_images)).astype(int) + _maximum_subwindow_width = np.round(0.2 * _img_size[1]).astype(int) + + perception_camera_images_resampled = [] + for ocular_img in perception_camera_images: + # Convert 2D depth arrays to 3D heatmap arrays + if ocular_img.ndim == 2: + if self._render_show_depths: + ocular_img = matplotlib.pyplot.imshow(ocular_img, cmap=matplotlib.pyplot.cm.jet, interpolation='bicubic').make_image('TkAgg', unsampled=True)[0][ + ..., :3] + matplotlib.pyplot.close() #delete image + else: + continue + + resample_factor = min(_desired_subwindow_height / ocular_img.shape[0], _maximum_subwindow_width / ocular_img.shape[1]) + + resample_height = np.round(ocular_img.shape[0] * resample_factor).astype(int) + resample_width = np.round(ocular_img.shape[1] * resample_factor).astype(int) + resampled_img = np.zeros((resample_height, resample_width, ocular_img.shape[2]), dtype=np.uint8) + for channel in range(ocular_img.shape[2]): + resampled_img[:, :, channel] = scipy.ndimage.zoom(ocular_img[:, :, channel], resample_factor, order=0) + + perception_camera_images_resampled.append(resampled_img) + + ocular_img_bottom = _img_size[0] + for ocular_img_idx, ocular_img in enumerate(perception_camera_images_resampled): + #print(f"Modify ({ocular_img_bottom - ocular_img.shape[0]}, { _img_size[1] - ocular_img.shape[1]})-({ocular_img_bottom}, {img.shape[1]}).") + img[ocular_img_bottom - ocular_img.shape[0]:ocular_img_bottom, _img_size[1] - ocular_img.shape[1]:] = ocular_img + ocular_img_bottom -= ocular_img.shape[0] + # input((len(perception_camera_images_resampled), perception_camera_images_resampled[0].shape, img.shape)) + elif self._render_mode_perception == "separate": + for module, camera_list in self.perception.cameras_dict.items(): + for camera in camera_list: + for rgb_or_depth_array in camera.render(): + if rgb_or_depth_array is not None: + self._render_stack_perception[f"{module.modality}/{type(camera).__name__}"].append(rgb_or_depth_array) + + return img + + def _GUI_rendering_pygame(self): + rgb_array = np.transpose(self._GUI_rendering(), axes=(1, 0, 2)) + + if self._render_screen_size is None: + self._render_screen_size = rgb_array.shape[:2] + + assert self._render_screen_size == rgb_array.shape[ + :2], f"Expected an rgb array of shape {self._render_screen_size} from self._GUI_camera, but received an rgb array of shape {rgb_array.shape[:2]}. " + + if self._render_window is None: + pygame.init() + pygame.display.init() + self._render_window = pygame.display.set_mode(self._render_screen_size) + + if self._render_clock is None: + self._render_clock = pygame.time.Clock() + + surf = pygame.surfarray.make_surface(rgb_array) + self._render_window.blit(surf, (0, 0)) + pygame.event.pump() + self._render_clock.tick(self.fps) + pygame.display.flip() + + def close(self): + """ Close the rendering window (if self._render_mode == 'human').""" + super().close() + if self._render_window is not None: + import pygame + + pygame.display.quit() + pygame.quit() + + @property + def fps(self): + return self._GUI_camera._fps + + def callback(self, callback_name, num_timesteps): + """ Update a callback -- may be useful during training, e.g. for curriculum learning. """ + self.callbacks[callback_name].update(num_timesteps) + + def update_callbacks(self, num_timesteps): + """ Update all callbacks. """ + for callback_name in self.callbacks: + self.callback(callback_name, num_timesteps) + + # def get_logdict_keys(self): + # return list(self.task._info["log_dict"].keys()) + + # def get_logdict_value(self, key): + # return self.task._info["log_dict"].get(key) + + @property + def config(self): + """ Return config. """ + return copy.deepcopy(self._config) + + @property + def run_parameters(self): + """ Return run parameters. """ + # Context cannot be deep copied + exclude = {"rendering_context"} + run_params = {k: copy.deepcopy(self._run_parameters[k]) for k in self._run_parameters.keys() - exclude} + run_params["rendering_context"] = self._run_parameters["rendering_context"] + return run_params + + @property + def simulator_folder(self): + """ Return simulator folder. """ + return self._simulator_folder + + @property + def render_mode(self): + """ Return render mode. """ + return self._render_mode + + def get_state(self): + """ Return a state of the simulator / individual components (biomechanical model, perception model, task). + + This function is used for logging/evaluation purposes, not for RL training. + + Returns: + A dict with one float or numpy vector per keyword. + """ + + # Get time, qpos, qvel, qacc, act_force, act, ctrl of the current simulation + state = {"timestep": self._data.time, + "qpos": self._data.qpos.copy(), + "qvel": self._data.qvel.copy(), + "qacc": self._data.qacc.copy(), + "act_force": self._data.actuator_force.copy(), + "act": self._data.act.copy(), + "ctrl": self._data.ctrl.copy()} + + # Add state from the task + state.update(self.task.get_state(self._model, self._data)) + + # Add state from the biomechanical model + state.update(self.bm_model.get_state(self._model, self._data)) + + # Add state from the perception model + state.update(self.perception.get_state(self._model, self._data)) + + return state + + def close(self, **kwargs): + """ Perform any necessary clean up. + + This function is inherited from gym.Env. It should be automatically called when this object is garbage collected + or the program exists, but that doesn't seem to be the case. This function will be called if this object has been + initialised in the context manager fashion (i.e. using the 'with' statement). """ + self.task.close(**kwargs) + self.perception.close(**kwargs) + self.bm_model.close(**kwargs) diff --git a/hci/user-in-the-box/uitb/tasks/__init__.py b/hci/user-in-the-box/uitb/tasks/__init__.py new file mode 100644 index 00000000..bdc8e137 --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/__init__.py @@ -0,0 +1,7 @@ +from .remote_driving.RemoteDriving import RemoteDriving +from .pointing.Pointing import Pointing +from .small_object_touch.SmallObjectTouch import SmallObjectTouch +from .tracking.Tracking import Tracking +from .choice_reaction.ChoiceReaction import ChoiceReaction +from .low_level_controller.LowLevelController import LowLevelController +from .unity.Unity import UnityEnv diff --git a/hci/user-in-the-box/uitb/tasks/__pycache__/__init__.cpython-311.pyc b/hci/user-in-the-box/uitb/tasks/__pycache__/__init__.cpython-311.pyc new file mode 100644 index 00000000..23c6cf78 Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/__pycache__/__init__.cpython-311.pyc differ diff --git a/hci/user-in-the-box/uitb/tasks/__pycache__/base.cpython-311.pyc b/hci/user-in-the-box/uitb/tasks/__pycache__/base.cpython-311.pyc new file mode 100644 index 00000000..51c9626b Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/__pycache__/base.cpython-311.pyc differ diff --git a/hci/user-in-the-box/uitb/tasks/base.py b/hci/user-in-the-box/uitb/tasks/base.py new file mode 100644 index 00000000..4d7d04ba --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/base.py @@ -0,0 +1,274 @@ +from abc import ABC, abstractmethod +import os +import shutil +import inspect +import mujoco +import numpy as np +import xml.etree.ElementTree as ET +import pathlib +import importlib +from typing import final + +from ..utils.functions import parent_path +from ..utils.functions import importer +from ..rl.encoders import BaseEncoder + + +class BaseTask(ABC): + + def __init__(self, model, data, **kwargs): + """ Initialises a new `BaseTask`. + + Args: + model: Mujoco model instance of the simulator. + data: Mujoco data instance of the simulator. + **kwargs: Many kwargs that should be documented somewhere. + """ + + # Initialise mujoco model of the task, easier to manipulate things + task_model = mujoco.MjModel.from_xml_path(self.get_xml_file()) + + # Get action sample freq + self._action_sample_freq = kwargs["action_sample_freq"] + + # Get dt + self._dt = kwargs["dt"] + + # Get an rng + self._rng = np.random.default_rng(kwargs.get("random_seed", None)) + + # Get actuator names and joint names (if any) + self._actuator_names = [mujoco.mj_id2name(task_model, mujoco.mjtObj.mjOBJ_ACTUATOR, i) for i in range(task_model.nu)] + self._joint_names = [mujoco.mj_id2name(task_model, mujoco.mjtObj.mjOBJ_JOINT, i) for i in range(task_model.njnt)] + + # Find actuator indices in the simulation + self._actuators = [mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, actuator_name) + for actuator_name in self._actuator_names] + + # Find joint indices in the simulation + self._joints = [mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_JOINT, joint_name) + for joint_name in self._joint_names] + + # Shape of stateful information will be set later + self._stateful_information_shape = None + + # Keep track of simulated steps + self._steps = 0 + + # # Used for logging states + # self._info = {"terminated": False, + # "truncated": False, + # "log_dict": {}} + + + def __init_subclass__(cls, *args, **kwargs): + """ Define a new __init__ method with a hook that automatically sets stateful information shape after a child + instance has been initialised. This is only for convenience, otherwise we would need to set the stateful information + shape separately in each child class constructor, or after a a child of BaseTask has been initialised.""" + super().__init_subclass__(*args, **kwargs) + def init_with_hook(self, model, data, init=cls.__init__, **init_kwargs): + init(self, model, data, **init_kwargs) + + # Set stateful information shape + self._stateful_information_shape = self.get_stateful_information(model, data).shape + + # Initialise encoder: use Identity encoder by default (which is no-op) if encoder has not been defined in config + encoder_info = init_kwargs.get("stateful_information_encoder", None) or self._default_stateful_information_encoder + self._initialise_stateful_information_encoder(encoder_info) + + cls.__init__ = init_with_hook + + + ############ The methods below you should definitely overwrite as they are important ############ + + @abstractmethod + def _update(self, model, data): + """ Updates the task/environment after a step. + + Args: + model: Mujoco model instance of the simulator. + data: Mujoco data instance of the simulator. + + Returns: + A float indicating the reward received from the task/environment, a boolean indicating whether the episode + has terminated (e.g., episode success or failure), a boolean indicating whether the episode has been + truncated (e.g., timeout), and a dict containing information about the states of the task/environment + """ + pass + + @abstractmethod + def _reset(self, model, data): + """ Resets the task/environment. + + Returns: + A dict containing information about the states of the task/environment + """ + return dict() + + + ############ The methods below are overwritable but often don't need to be overwritten ############ + + def get_stateful_information(self, model, data): + """ Returns stateful information pertinent to a task (like time left to achieve the task). + + Args: + model: Mujoco model instance of the simulator. + data: Mujoco data instance of the simulator. + + Returns: + * An empty array if no stateful information is used for RL training + * A numpy array, typically a vector but can be higher dimensional as well. If higher dimensional, then the + property 'stateful_information_encoder' must be overwritten to map the higher dimensional array into a vector. + + """ + return np.array([]) + + def _get_stateful_information_range(self): + """ Return limits for stateful information. These limits aren't currently used for anything (AFAIK, not in gym or + stable-baselines3; only to initialise the observation space required by gym.Env), so let's just use a default of + -inf to inf. Overwrite this method to use different ranges. + + Returns: + A dict with format {"low": float-or-array, "high": float-or-array} where the values indicate lowest and highest + values the observation can have. The values can be floats or numpy arrays -- if arrays, they must have the + same shape as the returned observation from method 'get_observation' + """ + return {"low": float('-inf'), "high": float('inf')} + + @property + def _default_stateful_information_encoder(self): + """ Returns default encoder info as a dict. Overwrite this property in derived task class to use different default + encoders for stateful information. """ + return {"module": "rl.encoders", "cls": "Identity"} + + def _get_state(self, model, data): + """ Return the state of the task/environment. These states are used only for logging/evaluation, not for RL + training + + Args: + model: Mujoco model instance of the simulator. + data: Mujoco data instance of the simulator. + + Returns: + A dict where each key should have a float or a numpy vector as their value + """ + return dict() + + @classmethod + def get_xml_file(cls): + """ Overwrite if you want to call the task xml file something else than 'task.xml'. """ + return os.path.join(parent_path(inspect.getfile(cls)), "task.xml") + + @classmethod + def _get_reward_function(cls, specs, module_name="reward_functions"): + """ Returns a reward function. One does not need to use this method when creating new tasks, it's just for + convenience. + + Args: + specs: Specifications of a reward function class, in format + {"cls": "name-of-class", "kwargs": {"kw1": value1, "kw2": value2}} + module_name: Name of the module, defaults to 'reward_functions' + """ + module = importlib.import_module(".".join(cls.__module__.split(".")[:-1]) + f".{module_name}") + return getattr(module, specs["cls"])(**specs.get("kwargs", {})) + + @classmethod + def clone(cls, simulator_folder, package_name, app_executable=None): + """ Clones (i.e. copies) the relevant python files into a new location. + + Args: + simulator_folder: Location of the simulator. + package_name: Name of the simulator (which is a python package) + app_executable: (relative) path of app executable, if an external application + is used by the task instance (e.g., a Unity app) + """ + + # Create 'tasks' folder + dst = os.path.join(simulator_folder, package_name, "tasks") + os.makedirs(dst, exist_ok=True) + + # Copy this file and __init__.py + base_file = pathlib.Path(__file__) + shutil.copyfile(base_file, os.path.join(dst, base_file.name)) + + # Create an __init__.py file with the relevant import + modules = cls.__module__.split(".") + with open(os.path.join(dst, "__init__.py"), "w") as file: + file.write("from ." + ".".join(modules[2:]) + " import " + cls.__name__) + + # Copy env folder (without apps subdirectory) + src = parent_path(inspect.getfile(cls)) + # shutil.copytree(src, os.path.join(dst, src.stem), dirs_exist_ok=True) + shutil.copytree(src, os.path.join(dst, src.stem), dirs_exist_ok=True, ignore=shutil.ignore_patterns('apps')) + + # Copy application subdir (optional) + if app_executable is not None: + src_app = parent_path(os.path.join(src, app_executable)) + shutil.copytree(src_app, os.path.join(dst, src.stem, os.path.dirname(app_executable)), dirs_exist_ok=True) + + # Copy assets if they exist + if os.path.isdir(os.path.join(src, "assets")): + shutil.copytree(os.path.join(src, "assets"), os.path.join(simulator_folder, package_name, "assets"), + dirs_exist_ok=True) + + @classmethod + def initialise(cls, task_kwargs): + """ Initialise the simulator xml file into which bm_model will be integrated. + + Args: + task_kwargs: kwargs for the task class that inherits from this base class. + + Returns: + An `xml.etree.ElementTree` object which will be the base for the newly created simulator. + + """ + # Parse xml file and return the tree + return ET.parse(cls.get_xml_file()) + + def close(self, **kwargs): + pass + + ############ The methods below you should not overwrite ############ + + @final + def update(self, model, data): + """ Keeps track of how many steps have been taken (usually required to e.g. determine when a task has ended) and + updates the task/environment. """ + self._steps += 1 + return self._update(model, data) + + @final + def reset(self, model, data): + """ Resets the number of steps taken and the task/environment. """ + self._steps = 0 + info = self._reset(model, data) + mujoco.mj_forward(model, data) + return info + + @final + def get_state(self, model, data): + """ Returns the number of steps taken as well as any relevant states of the task/environment. """ + state = {"steps": self._steps} + state.update(self._get_state(model, data)) + return state + + @final + def get_stateful_information_space_params(self): + """ Returns stateful information space parameters. """ + return {**self._get_stateful_information_range(), "shape": self._stateful_information_shape} + + @final + def _initialise_stateful_information_encoder(self, encoder_info): + """ Import an encoder. We assume the encoder inherits from uitb.rl.encoders.BaseEncoder. """ + encoder_cls = importer(encoder_info) + if not issubclass(encoder_cls, BaseEncoder): + raise RuntimeError(f"Encoder {encoder_cls} does not inherit from uitb.rl.encoders.BaseEncoder") + self._stateful_information_encoder = \ + encoder_cls(observation_shape=self._stateful_information_shape, **encoder_info.get("kwargs", {})) + + @final + @property + def stateful_information_encoder(self): + """ If 'get_stateful_information' returns a higher dimensional numpy array, then this method must return an encoder + (e.g. a PyTorch neural network) to map it into a vector. """ + return self._stateful_information_encoder diff --git a/hci/user-in-the-box/uitb/tasks/choice_reaction/ChoiceReaction.py b/hci/user-in-the-box/uitb/tasks/choice_reaction/ChoiceReaction.py new file mode 100644 index 00000000..f92786a6 --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/choice_reaction/ChoiceReaction.py @@ -0,0 +1,173 @@ +import numpy as np +import mujoco +import xml.etree.ElementTree as ET + +from .reward_functions import NegativeExpDistanceWithHitBonus +from ..base import BaseTask + + +class ChoiceReaction(BaseTask): + + def __init__(self, model, data, end_effector, shoulder, **kwargs): + super().__init__(model, data, **kwargs) + + # This task requires an end-effector and shoulder to be defined + assert end_effector[0] == "geom", "end-effector must be a geom because contacts are between geoms" + self._end_effector = end_effector[1] + self._shoulder = shoulder + + # For LLC policy #TODO: remove? + self._target_qpos = [0,0,0,0,0] + + + # Get buttons + self._buttons = [f"button-{idx}" for idx in range(4)] + self._current_button = self._buttons[0] + + # Use early termination if target is not hit in time + self._steps_since_last_hit = 0 + self._max_steps_without_hit = self._action_sample_freq*4 + + # Define a maximum number of button presses + self._trial_idx = 0 + self._max_trials = kwargs.get('max_trials', 10) + self._targets_hit = 0 + + # Used for logging states + self._info = {"target_hit": False, "new_button_generated": False, + "terminated": False, "truncated": False, "termination": False} + + # Define a default reward function + self._reward_function = NegativeExpDistanceWithHitBonus() + + # Do a forward step so stuff like geom and body positions are calculated + mujoco.mj_forward(model, data) + + # Get shoulder position + shoulder_pos = getattr(data, self._shoulder[0])(self._shoulder[1]).xpos.copy() + + # Update button positions + model.body("button-0").pos = shoulder_pos + [0.41, -0.07, -0.15] + model.body("button-1").pos = shoulder_pos + [0.41, 0.07, -0.15] + model.body("button-2").pos = shoulder_pos + [0.5, -0.07, -0.05] + model.body("button-3").pos = shoulder_pos + [0.5, 0.07, -0.05] + + # Set camera angle + model.cam_pos[mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, 'for_testing')] = np.array([1.1, -0.9, 0.95]) + model.cam_quat[mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, 'for_testing')] = np.array( + [0.6582, 0.6577, 0.2590, 0.2588]) + #model.cam_pos[model.camera_name2id('for_testing')] = np.array([-0.8, -0.6, 1.5]) + #model.cam_quat[model.camera_name2id('for_testing')] = np.array( + # [0.718027, 0.4371043, -0.31987, -0.4371043]) + + @classmethod + def initialise(cls, task_kwargs): + + assert "end_effector" in task_kwargs, "End-effector must be defined for this environment" + end_effector = task_kwargs["end_effector"][1] + + # Parse xml file + tree = ET.parse(cls.get_xml_file()) + root = tree.getroot() + + # Add contact between end-effector and buttons + if root.find('contact') is None: + root.append(ET.Element('contact')) + for idx in range(4): + root.find('contact').append(ET.Element('pair', name=f"ee-button-{idx}", geom1=end_effector, + geom2=f"button-{idx}")) + + return tree + + def _update(self, model, data): + + # Set defaults + terminated = False + truncated = False + self._info["new_button_generated"] = False + + # Check if the correct button has been pressed with suitable force + force = data.sensor(self._current_button).data + + # Get end-effector position and target position + ee_position = data.geom(self._end_effector).xpos + target_position = data.geom(self._current_button).xpos + + # Distance to target + dist = np.linalg.norm(target_position - ee_position) + + if 50 > force > 25: + self._info["target_hit"] = True + self._trial_idx += 1 + self._targets_hit += 1 + self._steps_since_last_hit = 0 + self._info["acc_dist"] += dist + self._choose_button(model, data) + self._info["new_button_generated"] = True + + else: + + self._info["target_hit"] = False + + # Check if time limit has been reached + self._steps_since_last_hit += 1 + if self._steps_since_last_hit >= self._max_steps_without_hit: + # Choose a new button + self._steps_since_last_hit = 0 + self._trial_idx += 1 + self._info["acc_dist"] += dist + self._choose_button(model, data) + self._info["new_button_generated"] = True + + # Check if max number trials reached + if self._trial_idx >= self._max_trials: + self._info["dist_from_target"] = self._info["acc_dist"]/self._trial_idx + truncated = True + self._info["termination"] = "max_trials_reached" + + # Calculate reward + reward = self._reward_function.get(self, dist, self._info.copy()) + + return reward, terminated, truncated, self._info.copy() + + def _choose_button(self, model, data): + + # Choose a new button randomly, but don't choose the same button as previous one + while True: + new_button = self._rng.choice(self._buttons) + if new_button != self._current_button: + self._current_button = new_button + break + + # Set color of screen + model.geom("screen").rgba = model.geom(self._current_button).rgba + + mujoco.mj_forward(model, data) + + def _get_state(self, model, data): + state = dict() + state["current_button"] = self._current_button + state["trial_idx"] = self._trial_idx + state["targets_hit"] = self._targets_hit + state.update(self._info) + return state + + def _reset(self, model, data): + + # Reset counters + self._steps_since_last_hit = 0 + self._trial_idx = 0 + self._targets_hit = 0 + + self._info = {"target_hit": False, "new_button_generated": False, "terminated": False, "truncated": False, + "termination": False, "dist_from_target": 0, "acc_dist": 0} + + # Choose a new button + self._choose_button(model, data) + + return self._info + + def get_stateful_information(self, model, data): + # Time features + targets_hit = -1.0 + 2*(self._trial_idx/self._max_trials) + return np.array([targets_hit]) diff --git a/hci/user-in-the-box/uitb/tasks/choice_reaction/__init__.py b/hci/user-in-the-box/uitb/tasks/choice_reaction/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/hci/user-in-the-box/uitb/tasks/choice_reaction/__pycache__/ChoiceReaction.cpython-311.pyc b/hci/user-in-the-box/uitb/tasks/choice_reaction/__pycache__/ChoiceReaction.cpython-311.pyc new file mode 100644 index 00000000..6e23a684 Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/choice_reaction/__pycache__/ChoiceReaction.cpython-311.pyc differ diff --git a/hci/user-in-the-box/uitb/tasks/choice_reaction/__pycache__/__init__.cpython-311.pyc b/hci/user-in-the-box/uitb/tasks/choice_reaction/__pycache__/__init__.cpython-311.pyc new file mode 100644 index 00000000..144c48fd Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/choice_reaction/__pycache__/__init__.cpython-311.pyc differ diff --git a/hci/user-in-the-box/uitb/tasks/choice_reaction/__pycache__/reward_functions.cpython-311.pyc b/hci/user-in-the-box/uitb/tasks/choice_reaction/__pycache__/reward_functions.cpython-311.pyc new file mode 100644 index 00000000..cbb75eb5 Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/choice_reaction/__pycache__/reward_functions.cpython-311.pyc differ diff --git a/hci/user-in-the-box/uitb/tasks/choice_reaction/reward_functions.py b/hci/user-in-the-box/uitb/tasks/choice_reaction/reward_functions.py new file mode 100644 index 00000000..8b088c13 --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/choice_reaction/reward_functions.py @@ -0,0 +1,26 @@ +from abc import ABC, abstractmethod +import numpy as np + + +class BaseFunction(ABC): + @abstractmethod + def get(self, env, dist, info): + pass + @abstractmethod + def __repr__(self): + pass + + +class NegativeExpDistanceWithHitBonus(BaseFunction): + + def __init__(self, k=10): + self.k = k + + def get(self, env, dist, info): + if info["target_hit"]: + return 8 + else: + return (np.exp(-dist*self.k) - 1)/10 + + def __repr__(self): + return "NegativeExpDistanceWithHitBonus" \ No newline at end of file diff --git a/hci/user-in-the-box/uitb/tasks/choice_reaction/task.xml b/hci/user-in-the-box/uitb/tasks/choice_reaction/task.xml new file mode 100644 index 00000000..228aa809 --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/choice_reaction/task.xml @@ -0,0 +1,41 @@ + + + + diff --git a/hci/user-in-the-box/uitb/tasks/low_level_controller/LowLevelController.py b/hci/user-in-the-box/uitb/tasks/low_level_controller/LowLevelController.py new file mode 100644 index 00000000..103c65cb --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/low_level_controller/LowLevelController.py @@ -0,0 +1,188 @@ +import numpy as np +import mujoco + +from ..base import BaseTask + +class LowLevelController(BaseTask): + + def __init__(self, model, data, joints, **kwargs): + super().__init__(model, data, **kwargs) + + # Define number of trials in episode + self._max_trials = 10 + self._trial_idx = 0 + self._targets_hit = 0 + self._trials_ep = 0 + + self._target_radius = 0.05 #maximum permitted distance between target and current joint posture (using the Euclidean norm) + self._steps_inside_target = 0 + self._dwell_threshold = int(kwargs.get("dwell_time", 0.5)*self._action_sample_freq) + + # Use early termination if target is not hit in time + self._steps_since_last_hit = 0 + self._max_steps_without_hit = self._action_sample_freq*kwargs.get("max_trial_time", 2) + + # Whether to penalize distance of all joints (including dependent/virtual joints), or only of joints that are actively actuated + self._track_all_joints = kwargs.get("track_all_joints", False) + + # Get independent dofs -- would be easier to just grab these from the bm model + self._independent_dofs = [] + self._independent_joints = [] + for joint in joints: + joint_id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_JOINT, joint) + if model.jnt_type[joint_id] not in [mujoco.mjtJoint.mjJNT_HINGE, mujoco.mjtJoint.mjJNT_SLIDE]: + raise NotImplementedError(f"Only 'hinge' and 'slide' joints are supported, joint " + f"{joint} is of type {mujoco.mjtJoint(model.jnt_type[joint_id]).name}") + self._independent_dofs.append(model.jnt_qposadr[joint_id]) + self._independent_joints.append(joint_id) + + + # Get joint range for normalisation + if self._track_all_joints: + self._jnt_range = model.jnt_range.copy() + else: + self._jnt_range = model.jnt_range[self._independent_joints] + + # Initialise qpos + self._qpos = None + self._get_qpos(model, data) + + # Initialise target qpos + self._target_qpos = None + self._sample_target_qpos(model, data) + + # Set camera angle + model.cam_pos[mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, 'for_testing')] = np.array([1.1, -0.9, 0.95]) + model.cam_quat[mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, 'for_testing')] = np.array([0.6582, 0.6577, 0.2590, 0.2588]) + + def _update(self, model, data): + + # Get qpos + self._get_qpos(model, data) + + # Set some defaults + terminated = False + truncated = False + self._info["target_sampled"] = False + + # Distance to target + dist = np.linalg.norm(self._target_qpos - self._qpos) + + # Check if target is close enough + if dist < self._target_radius: + self._steps_inside_target += 1 + self._info["inside_target"] = True + else: + self._steps_inside_target = 0 + self._info["inside_target"] = False + + if self._info["inside_target"] and self._steps_inside_target >= self._dwell_threshold: + + # Update counters + self._info["target_hit"] = True + self._trial_idx += 1 + self._targets_hit += 1 + self._steps_since_last_hit = 0 + self._steps_inside_target = 0 + self._info["acc_dist"] += np.mean(dist) + self._sample_target_qpos(model, data) + self._info["target_sampled"] = True + + else: + self._info["target_hit"] = False + + # Check if time limit has been reached + self._steps_since_last_hit += 1 + if self._steps_since_last_hit >= self._max_steps_without_hit: + # Spawn a new target + self._steps_since_last_hit = 0 + self._trial_idx += 1 + self._info["acc_dist"] += np.mean(dist) + self._sample_target_qpos(model, data) + self._info["target_sampled"] = True + + # Check if max number trials reached + if self._trial_idx >= self._max_trials: + self._info["mean_dist"] = self._info["acc_dist"]/self._trial_idx + truncated = True + self._info["termination"] = "max_trials_reached" + + reward = self.get_reward_with_hit_bonus(dist-self._target_radius, self._info.copy()) + + return reward, terminated, truncated, self._info + + def get_reward_with_hit_bonus(self, dist, info): + if info["target_hit"]: + #_reward = 8 + _reward = (self._max_steps_without_hit / self._max_trials) / 10 + else: + _reward = np.exp(-dist * 3) / 10 + if info["inside_target"]: + _reward += 1 / 10 + # else: + # return np.prod(np.exp(-dist*3)) + return _reward + + def _normalise_qpos(self, qpos): + # Normalise to [0, 1] + qpos = (qpos - self._jnt_range[:, 0]) / (self._jnt_range[:, 1] - self._jnt_range[:, 0]) + # Normalise to [-1, 1] + qpos = (qpos - 0.5) * 2 + return qpos + + def _unnormalise_qpos(self, qpos): + return (qpos/2 + 0.5) * (self._jnt_range[:, 1] - self._jnt_range[:, 0]) + self._jnt_range[:, 0] + + def _get_qpos(self, model, data): + if self._track_all_joints: + qpos = data.qpos.copy() + else: + qpos = data.qpos[self._independent_dofs].copy() + self._qpos = self._normalise_qpos(qpos) + + @staticmethod + def _ensure_joint_eq_constraints(model, qpos): + # adjust virtual joints according to active constraints: + _eq_act = getattr(model, "eq_active", None) + if _eq_act is None: + _eq_act = np.asarray(getattr(model, "eq_active0", np.ones(model.neq))) + _eq_constraints = zip(model.eq_obj1id[ + (model.eq_type == 2) & (_eq_act == 1)], + model.eq_obj2id[ + (model.eq_type == 2) & (_eq_act == 1)], + model.eq_data[(model.eq_type == 2) & + (_eq_act == 1), 4::-1]) + for (virtual_joint_id, physical_joint_id, poly_coefs) in _eq_constraints: + qpos[virtual_joint_id] = np.polyval(poly_coefs, qpos[physical_joint_id]) + + def _reset(self, model, data): + self._steps_since_last_hit = 0 + self._steps_inside_target = 0 + self._trial_idx = 0 + self._targets_hit = 0 + + self._info = {"target_hit": False, "inside_target": False, "target_sampled": False, + "terminated": False, "truncated": False, + "termination": False, "mean_dist": 0, "acc_dist": 0} + + self._sample_target_qpos(model, data) + + def _sample_target_qpos(self, model, data): + jnt_range = np.array([[-0.2, 2.27], + [0, 2.5], + [-0.8, 0.34], + [0, 2.27], + [-0.6, 0.6]]) + target_qpos = self._rng.uniform(low=jnt_range[:,0], high=jnt_range[:,1], size=(len(self._independent_dofs,))) + if self._track_all_joints: + dummy_qpos = np.zeros(model.nq) + dummy_qpos[self._independent_dofs] = target_qpos + # ensure that joint equality constraints hold for target qpos + self._ensure_joint_eq_constraints(model, dummy_qpos) + target_qpos = dummy_qpos + self._target_qpos = self._normalise_qpos(target_qpos) + + def get_stateful_information(self, model, data): + # Need to output target qpos here + qpos_diff = self._target_qpos - self._qpos + return qpos_diff diff --git a/hci/user-in-the-box/uitb/tasks/low_level_controller/__init__.py b/hci/user-in-the-box/uitb/tasks/low_level_controller/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/hci/user-in-the-box/uitb/tasks/low_level_controller/__pycache__/LowLevelController.cpython-311.pyc b/hci/user-in-the-box/uitb/tasks/low_level_controller/__pycache__/LowLevelController.cpython-311.pyc new file mode 100644 index 00000000..dce6004f Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/low_level_controller/__pycache__/LowLevelController.cpython-311.pyc differ diff --git a/hci/user-in-the-box/uitb/tasks/low_level_controller/__pycache__/__init__.cpython-311.pyc b/hci/user-in-the-box/uitb/tasks/low_level_controller/__pycache__/__init__.cpython-311.pyc new file mode 100644 index 00000000..31f512d5 Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/low_level_controller/__pycache__/__init__.cpython-311.pyc differ diff --git a/hci/user-in-the-box/uitb/tasks/low_level_controller/task.xml b/hci/user-in-the-box/uitb/tasks/low_level_controller/task.xml new file mode 100644 index 00000000..c6de2bc2 --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/low_level_controller/task.xml @@ -0,0 +1,13 @@ + + + + \ No newline at end of file diff --git a/hci/user-in-the-box/uitb/tasks/pointing/Pointing.py b/hci/user-in-the-box/uitb/tasks/pointing/Pointing.py new file mode 100644 index 00000000..13d03dd7 --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/pointing/Pointing.py @@ -0,0 +1,195 @@ +import numpy as np +import mujoco + +from .reward_functions import NegativeExpDistanceWithHitBonus +from ..base import BaseTask + +class Pointing(BaseTask): + + def __init__(self, model, data, end_effector, shoulder, **kwargs): + super().__init__(model, data, **kwargs) + + # This task requires an end-effector to be defined + if not isinstance(end_effector, list) and len(end_effector) != 2: + raise RuntimeError("'end_effector' must be a list with two elements: first defining what type of mujoco element " + "it is, and second defining the name") + self._end_effector = end_effector + + # Also a shoulder that is used to define the location of target plane + if not isinstance(shoulder, list) and len(shoulder) != 2: + raise RuntimeError("'shoulder' must be a list with two elements: first defining what type of mujoco element " + "it is, and second defining the name") + self._shoulder = shoulder + + # Use early termination if target is not hit in time + self._steps_since_last_hit = 0 + self._max_steps_without_hit = self._action_sample_freq*4 + + # Used for logging states + self._info = {"target_hit": False, "inside_target": False, "target_spawned": False, "terminated": False, + "truncated": False, "termination": False} + + # Define a maximum number of trials (if needed for e.g. evaluation / visualisation) + self._trial_idx = 0 + self._max_trials = kwargs.get('max_trials', 10) + self._targets_hit = 0 + + # Dwelling based selection -- fingertip needs to be inside target for some time + self._steps_inside_target = 0 + self._dwell_threshold = int(0.5*self._action_sample_freq) #for HRL: int(0.25*self._action_sample_freq) + + # Radius limits for target + self._target_radius_limit = kwargs.get('target_radius_limit', np.array([0.05, 0.15])) + self._target_radius = self._target_radius_limit[0] #for HRL: self._target_radius_limit[1] + + # Minimum distance to new spawned targets is twice the max target radius limit + self._new_target_distance_threshold = 2*self._target_radius_limit[1] + + # Define a default reward function + #if self.reward_function is None: + self._reward_function = NegativeExpDistanceWithHitBonus(k=10) + + # Do a forward step so stuff like geom and body positions are calculated + mujoco.mj_forward(model, data) + + # Define plane where targets will move: 0.55m in front of and 0.1m to the right of shoulder, or the "humphant" body. + # Note that this body is not fixed but moves with the shoulder, so the model is assumed to be in initial position + self._target_origin = getattr(data, self._shoulder[0])(self._shoulder[1]).xpos + np.array([0.55, -0.1, 0]) + self._target_position = self._target_origin.copy() + self._target_limits_y = np.array([-0.3, 0.3]) + self._target_limits_z = np.array([-0.3, 0.3]) + + # For LLC policy #TODO: remove? + self._target_qpos = [0,0,0,0,0] + + # Update plane location + model.geom("target-plane").size = np.array([0.005, + (self._target_limits_y[1] - self._target_limits_y[0])/2, + (self._target_limits_z[1] - self._target_limits_z[0])/2]) + model.body("target-plane").pos = self._target_origin + + # Set camera angle TODO need to rethink how cameras are implemented + model.cam_pos[mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, 'for_testing')] = np.array([1.1, -0.9, 0.95]) + model.cam_quat[mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, 'for_testing')] = np.array( + [0.6582, 0.6577, 0.2590, 0.2588]) + #model.cam_pos[model.camera_name2id('for_testing')] = np.array([-0.8, -0.6, 1.5]) + #model.cam_quat[model.camera_name2id('for_testing')] = np.array( + # [0.718027, 0.4371043, -0.31987, -0.4371043]) + + def _update(self, model, data): + + # Set some defaults + terminated = False + truncated = False + self._info["target_spawned"] = False + + # Get end-effector position + ee_position = getattr(data, self._end_effector[0])(self._end_effector[1]).xpos + + # Distance to target + dist = np.linalg.norm(self._target_position - (ee_position - self._target_origin)) + + # Check if fingertip is inside target + if dist < self._target_radius: + self._steps_inside_target += 1 + self._info["inside_target"] = True + else: + self._steps_inside_target = 0 + self._info["inside_target"] = False + + if self._info["inside_target"] and self._steps_inside_target >= self._dwell_threshold: + + # Update counters + self._info["target_hit"] = True + self._trial_idx += 1 + self._targets_hit += 1 + self._steps_since_last_hit = 0 + self._steps_inside_target = 0 + self._info["acc_dist"] += dist + self._spawn_target(model, data) + self._info["target_spawned"] = True + + else: + + self._info["target_hit"] = False + + # Check if time limit has been reached + self._steps_since_last_hit += 1 + if self._steps_since_last_hit >= self._max_steps_without_hit: + # Spawn a new target + self._steps_since_last_hit = 0 + self._trial_idx += 1 + self._info["acc_dist"] += dist + self._spawn_target(model, data) + self._info["target_spawned"] = True + + # Check if max number trials reached + if self._trial_idx >= self._max_trials: + self._info["dist_from_target"] = self._info["acc_dist"]/self._trial_idx + truncated = True + self._info["termination"] = "max_trials_reached" + + # Calculate reward; note, inputting distance to surface into reward function, hence distance can be negative if + # fingertip is inside target + reward = self._reward_function.get(self, dist-self._target_radius, self._info.copy()) + + return reward, terminated, truncated, self._info.copy() + + def _get_state(self, model, data): + state = dict() + ee_position = getattr(data, self._end_effector[0])(self._end_effector[1]).xpos.copy() + dist_center = float(np.linalg.norm(self._target_position - (ee_position - self._target_origin))) + state["ee_position"] = ee_position + state["dist_to_target_center"] = dist_center + state["dist_to_target_surface"] = float(dist_center - self._target_radius) + state["target_position"] = self._target_origin.copy()+self._target_position.copy() + state["target_radius"] = self._target_radius + state["trial_idx"] = self._trial_idx + state["targets_hit"] = self._targets_hit + state.update(self._info) + return state + + def _reset(self, model, data): + + # Reset counters + self._steps_since_last_hit = 0 + self._steps_inside_target = 0 + self._trial_idx = 0 + self._targets_hit = 0 + + self._info = {"target_hit": False, "inside_target": False, "target_spawned": False, + "terminated": False, "truncated": False, "termination": False, "llc_dist_from_target": 0, "dist_from_target": 0, "acc_dist": 0} + + # Spawn a new location + self._spawn_target(model, data) + + return self._info + + def _spawn_target(self, model, data): + + # Sample a location; try 10 times then give up (if e.g. self.new_target_distance_threshold is too big) + for _ in range(10): + target_y = self._rng.uniform(*self._target_limits_y) + target_z = self._rng.uniform(*self._target_limits_z) + new_position = np.array([0, target_y, target_z]) + distance = np.linalg.norm(self._target_position - new_position) + if distance > self._new_target_distance_threshold: + break + self._target_position = new_position + + # Set location + model.body("target").pos[:] = self._target_origin + self._target_position + + # Sample target radius + self._target_radius = self._rng.uniform(*self._target_radius_limit) + + # Set target radius + model.geom("target").size[0] = self._target_radius + + mujoco.mj_forward(model, data) + + def get_stateful_information(self, model, data): + # Time features (time left to reach target, time spent inside target) + targets_hit = -1.0 + 2*(self._trial_idx/self._max_trials) + dwell_time = -1.0 + 2 * np.min([1.0, self._steps_inside_target / self._dwell_threshold]) + return np.array([dwell_time, targets_hit]) diff --git a/hci/user-in-the-box/uitb/tasks/pointing/__init__.py b/hci/user-in-the-box/uitb/tasks/pointing/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/hci/user-in-the-box/uitb/tasks/pointing/__pycache__/Pointing.cpython-311.pyc b/hci/user-in-the-box/uitb/tasks/pointing/__pycache__/Pointing.cpython-311.pyc new file mode 100644 index 00000000..3f94c130 Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/pointing/__pycache__/Pointing.cpython-311.pyc differ diff --git a/hci/user-in-the-box/uitb/tasks/pointing/__pycache__/__init__.cpython-311.pyc b/hci/user-in-the-box/uitb/tasks/pointing/__pycache__/__init__.cpython-311.pyc new file mode 100644 index 00000000..c57a7067 Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/pointing/__pycache__/__init__.cpython-311.pyc differ diff --git a/hci/user-in-the-box/uitb/tasks/pointing/__pycache__/reward_functions.cpython-311.pyc b/hci/user-in-the-box/uitb/tasks/pointing/__pycache__/reward_functions.cpython-311.pyc new file mode 100644 index 00000000..dcd51b71 Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/pointing/__pycache__/reward_functions.cpython-311.pyc differ diff --git a/hci/user-in-the-box/uitb/tasks/pointing/reward_functions.py b/hci/user-in-the-box/uitb/tasks/pointing/reward_functions.py new file mode 100644 index 00000000..91520c0b --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/pointing/reward_functions.py @@ -0,0 +1,94 @@ +import numpy as np +from abc import ABC, abstractmethod + + +class BaseFunction(ABC): + @abstractmethod + def get(self, env, dist, info): + pass + @abstractmethod + def __repr__(self): + pass + +class ExpDistanceWithHitBonus(BaseFunction): + + def get(self, env, dist, info): + if info["target_hit"]: + return 2 + else: + return np.exp(-dist * 10) / 10 + + def __repr__(self): + return "ExpDistanceWithHitBonus" + +class ExpDistanceWithTimeBonus(BaseFunction): + + def get(self, env, dist, info): + if info["target_hit"]: + time_left = 1 - (env.steps_since_last_hit / env.max_steps_without_hit) + max_reward = env.max_steps_without_hit*env.dt + return 1 + time_left*max_reward + else: + # Get distance to surface + dist = dist - env.target_radius + return np.exp(-dist * 10) / 10 + + def __repr__(self): + return "ExpDistanceWithHitBonus" + +class NegativeDistanceWithHitBonus(BaseFunction): + + def get(self, env, dist, info): + if info["target_hit"]: + return 10 + elif info["inside_target"]: + return 0 + else: + # Negative distance to target sphere surface squared + return -(dist-env.target_radius)**2 + + def __repr__(self): + return "NegativeDistanceWithHitBonus" + +class PositiveBinary(BaseFunction): + + def get(self, env, dist, info): + if info["target_hit"]: + return 1 + else: + return 0 + + def __repr__(self): + return "PositiveBinary" + +class TimeCost(BaseFunction): + + def get(self, env, dist, info): + if info["target_hit"]: + return 8 + else: + return -0.1 + + def __repr__(self): + return "TimeCost" + + +class NegativeExpDistanceWithHitBonus(BaseFunction): + + def __init__(self, k): + self.k = k + + def get(self, env, dist, info): + if info["target_hit"]: + return 8 + elif info["inside_target"]: + return 0 + else: + if callable(self.k): + k = self.k() + else: + k = self.k + return (np.exp(-dist*k) - 1)/10 + + def __repr__(self): + return "NegativeExpDistanceWithHitBonus" diff --git a/hci/user-in-the-box/uitb/tasks/pointing/task.xml b/hci/user-in-the-box/uitb/tasks/pointing/task.xml new file mode 100644 index 00000000..14b551f3 --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/pointing/task.xml @@ -0,0 +1,19 @@ + + + + \ No newline at end of file diff --git a/hci/user-in-the-box/uitb/tasks/remote_driving/RemoteDriving.py b/hci/user-in-the-box/uitb/tasks/remote_driving/RemoteDriving.py new file mode 100644 index 00000000..2d9950b1 --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/remote_driving/RemoteDriving.py @@ -0,0 +1,229 @@ +import numpy as np +import xml.etree.ElementTree as ET +import mujoco + +from ..base import BaseTask + + +class RemoteDriving(BaseTask): + """ A task where the goal is to control a remote driving car via a joystick and move the car to a target area. + + Authors: Florian Fischer, Markus Klar, Aleksi Ikkala; Dominik Ermer, Jannic Herrmann, Lisa Müller and Ferdinand Schäffler (initial model of the gamepad and the car) + + """ + + def __init__(self, model, data, end_effector, **kwargs): + super().__init__(model, data, **kwargs) + + # TODO currently works only with 'geom' type of end_effector + self._end_effector = end_effector + + # Define names + self._joystick_geom = "thumb-stick-1" + self._joystick_joint = "thumb-stick-1:rot-x" + self._car_body = "car" + self._car_joint = "car" + self._engine_back_joint = "axis-back:rot-x" + self._engine_front_joint = "axis-front:rot-x" + self._target = "target" + self._target_joint = "target" + + # Define joystick parameters + self._throttle_factor = 25 + + # Define episode length + episode_length_seconds = kwargs.get('episode_length_seconds', 4) + self._max_episode_steps = kwargs.get('max_episode_steps', self._action_sample_freq * episode_length_seconds) + + # Episodes can be extended if joystick is touched + extratime_length_seconds = kwargs.get('extratime_length_seconds', 6) + self._extratime = self._action_sample_freq * extratime_length_seconds + self._max_episode_steps_with_extratime = self._max_episode_steps # extra time only applies if joystick is touched + + # Measure whether contact between end-effector and joystick exists + self._ee_at_joystick = False + + # Measure distances between end-effector and joystick, and between car and target area + self._dist_ee_to_joystick = 0 + self._dist_car_to_target = 0 + + # Terminal velocity -- car needs to stay inside target area (i.e., velocity along the track needs to fall below + # some threshold). Default must be > 0: with 0.0, |v| <= 0 is almost never satisfied in floating-point physics. + self._car_velocity_threshold = kwargs.get('car_velocity_threshold', 0.05) + + # Set target size + self._target_halfsize = kwargs.get('target_halfsize', 0.4) + model.geom(self._target).size = np.array([0.3, self._target_halfsize, 0.5]) + + # Minimum distance between car and target is one meter (when sampling new positions) + self._new_target_distance_threshold = 1 + + # For logging + self._info = {"target_hit": False, "inside_target": False, "car_moving": False, + "terminated": False, "truncated": False, + "extratime_given": False} + + # Get the reward function + default_reward_fn = {"cls": "PositiveExpDistance"} + self._reward_function = self._get_reward_function(kwargs.get("reward_function", default_reward_fn)) + + # Do a forward step so stuff like geom and body positions are calculated + mujoco.mj_forward(model, data) + + # Reset camera position and angle TODO need to rethink camera implementations + model.camera("for_testing").pos = np.array([-2, 0, 2.5]) + model.camera("for_testing").quat = np.array([0.583833, 0.399104, -0.399421, -0.583368]) + + @classmethod + def initialise(cls, task_kwargs): + + if "end_effector" not in task_kwargs: + raise KeyError("Key 'end_effector' is missing from task kwargs. The end-effector must be defined for this " + "environment") + + # By default only contact between fingertip and joystick is enabled + gamepad_contacts = task_kwargs.get("gamepad_contacts", False); + + # Parse xml file + tree = ET.parse(cls.get_xml_file()) + root = tree.getroot() + + # Add contacts + root.find("contact").append(ET.Element('pair', geom1="thumb-stick-1", geom2=task_kwargs["end_effector"])) + + if gamepad_contacts: + root.find("contact").append(ET.Element('pair', geom1="thumb-stick-2", geom2=task_kwargs["end_effector"])) + root.find("contact").append(ET.Element('pair', geom1="controller-base", geom2=task_kwargs["end_effector"])) + root.find("contact").append(ET.Element('pair', geom1="d-pad", geom2=task_kwargs["end_effector"])) + root.find("contact").append(ET.Element('pair', geom1="button-1", geom2=task_kwargs["end_effector"])) + root.find("contact").append(ET.Element('pair', geom1="button-2", geom2=task_kwargs["end_effector"])) + root.find("contact").append(ET.Element('pair', geom1="button-3", geom2=task_kwargs["end_effector"])) + root.find("contact").append(ET.Element('pair', geom1="button-4", geom2=task_kwargs["end_effector"])) + + # Add touch sensor (these could have been already defined in the task.xml file, but maybe leave them here for + # demonstration purposes) + thumb_stick_1 = root.find(".//body[@name='thumb-stick-1']") + thumb_stick_1.append(ET.Element('site', name='thumb-stick-1', pos="0 0 0.018", size="0.012", rgba="0.5 0.5 0.5 0.0")) + if root.find('sensor') is None: + root.append(ET.Element('sensor')) + root.find('sensor').append(ET.Element('touch', name="thumb-stick-1-sensor", site="thumb-stick-1")) + + return tree + + def _update_car_dynamics(self, model, data): + """ + Sets the speed of the car based on the joystick state. + Info: Negative throttle_control values result in forward motion, positive values in backward motion. + """ + throttle_control = data.joint(self._joystick_joint).qpos + if np.abs(throttle_control) < 1e-3: + throttle_control = 0 + throttle = throttle_control * self._throttle_factor + data.joint(self._engine_back_joint).qfrc_applied = throttle + data.joint(self._engine_front_joint).qfrc_applied = throttle + + def _update(self, model, data): + + # Set defaults + terminated = False + truncated = False + self._info = {"extratime_given": False} + + # Update car dynamics + self._update_car_dynamics(model, data) + + # Max distance between front/back wheel and center of target + self._dist_car_to_target = max(np.abs([data.body("wheel1").xpos[1], data.body("wheel3").xpos[1]] + - data.body("target").xpos[1])) + + # Contact between end-effector and joystick + self._dist_ee_to_joystick = np.linalg.norm(data.site("thumb-stick-1").xpos - data.site("fingertip").xpos) + + # Check if car is moving + if np.abs(data.body(self._car_body).cvel[4]) > 1e-3: + # Provide (constant) extra time if joystick is touched at least once within regular time: + if not self._info["extratime_given"]: + self._max_episode_steps_with_extratime = self._max_episode_steps + self._extratime + self._info["extratime_given"] = True + self._info["car_moving"] = True + else: + self._info["car_moving"] = False + + # Check if car has reached target + if self._dist_car_to_target <= self._target_halfsize: + self._info["inside_target"] = True + else: + self._info["inside_target"] = False + + # Check if target is inside target area with (close to) zero velocity + if self._info["inside_target"] and np.abs(data.body(self._car_body).cvel[4]) <= self._car_velocity_threshold: + terminated = True + self._info["target_hit"] = True + else: + self._info["target_hit"] = False + + # Check if time limit has been reached + if self._steps >= self._max_episode_steps_with_extratime: + truncated = True + self._info["termination"] = "time_limit_reached" + + # Calculate reward + reward = self._reward_function.get(self._dist_ee_to_joystick, self._dist_car_to_target, self._info.copy(), + model, data) + + return reward, terminated, truncated, self._info.copy() + + def _spawn_car(self, model, data): + # Choose qpos value of slide joint in x-direction uniformly from joint angle range + new_car_qpos = self._rng.uniform(*model.joint(self._car_joint).range) + + data.joint(self._car_joint).qpos = new_car_qpos + mujoco.mj_forward(model, data) + + def _spawn_target(self, model, data): + + # Sample a location; try 10 times then give up (if e.g. self.new_target_distance_threshold is too big) + for _ in range(10): + new_target = self._rng.uniform(*model.joint(self._car_joint).range) + # negative sign required, since y goes to left but car looks to the right + distance = np.abs(data.joint(self._car_joint).qpos - new_target) + if distance > self._new_target_distance_threshold: + break + + # Set location + data.joint(self._target_joint).qpos = new_target + + mujoco.mj_forward(model, data) + + def _get_state(self, model, data): + state = dict() + state["joystick_xpos"] = data.geom(self._joystick_geom).xpos.copy() + state["joystick_xmat"] = data.geom(self._joystick_geom).xmat.copy() + state["dist_ee_to_joystick"] = self._dist_ee_to_joystick + state["car_xpos"] = data.body(self._car_body).xpos.copy() + state["car_xmat"] = data.body(self._car_body).xmat.copy() + state["car_cvel"] = data.body(self._car_body).cvel.copy() + state["target_position"] = data.body(self._target).xpos.copy() + state["target_halfsize"] = self._target_halfsize + state["dist_car_to_target"] = self._dist_car_to_target + state.update(self._info) + return state + + def _reset(self, model, data): + + # Reset counters + self._max_episode_steps_with_extratime = self._max_episode_steps + self._info = {"target_hit": False, "inside_target": False, "car_moving": False, + "terminated": False, "truncated": False, + "extratime_given": False} + + # Reset reward function + self._reward_function.reset() + + # Spawn a new car location + self._spawn_car(model, data) + + # Spawn a new target location (depending on current car location) + self._spawn_target(model, data) + + return self._info diff --git a/hci/user-in-the-box/uitb/tasks/remote_driving/__init__.py b/hci/user-in-the-box/uitb/tasks/remote_driving/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/hci/user-in-the-box/uitb/tasks/remote_driving/__pycache__/RemoteDriving.cpython-311.pyc b/hci/user-in-the-box/uitb/tasks/remote_driving/__pycache__/RemoteDriving.cpython-311.pyc new file mode 100644 index 00000000..8720597d Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/remote_driving/__pycache__/RemoteDriving.cpython-311.pyc differ diff --git a/hci/user-in-the-box/uitb/tasks/remote_driving/__pycache__/__init__.cpython-311.pyc b/hci/user-in-the-box/uitb/tasks/remote_driving/__pycache__/__init__.cpython-311.pyc new file mode 100644 index 00000000..e9ba1683 Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/remote_driving/__pycache__/__init__.cpython-311.pyc differ diff --git a/hci/user-in-the-box/uitb/tasks/remote_driving/assets/car/chassis.scad b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/car/chassis.scad new file mode 100644 index 00000000..cd7d2dcd --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/car/chassis.scad @@ -0,0 +1,55 @@ +scale([0.001, 0.001, 0.001]) +rotate([0, 0, -90]) +difference() { + minkowski() { + chassis_base(); + sphere(50, $fn=80); + } + translate([0, 0, -60]) + cube([1000, 1000, 80], center = true); + wheel_cutouts(); +} + +module chassis_base() { + union() { + rotate([90, 0, 0]) + linear_extrude(130, center=true) + polygon([ + [0, 0], + [90, 40], + [90, 0] + ]); + translate([90, -65, 0]) + cube([250, 130, 40]); + //wheel_cutouts(); + } +} + +module wheel_cutouts() { + radius = 40; + wheelbase = 110; + inset = 22; + + x_front = 60; + x_back = 318; + + translate([0, 0, -18]) + union() { + // Cutouts for the front wheels. + translate([x_front, wheelbase, 0]) + wheel_cutout(inset, radius); + translate([x_front, -wheelbase, 0]) + wheel_cutout(inset, radius); + + // Cutouts for the back wheels. + translate([x_back, wheelbase, 0]) + wheel_cutout(inset, radius); + translate([x_back, -wheelbase, 0]) + wheel_cutout(inset, radius); + } +} + +module wheel_cutout(inset, radius) { + rotate([90, 0, 0]) + cylinder(inset, radius, radius, center = true); +} \ No newline at end of file diff --git a/hci/user-in-the-box/uitb/tasks/remote_driving/assets/car/chassis.stl b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/car/chassis.stl new file mode 100644 index 00000000..8a0f9444 Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/car/chassis.stl differ diff --git a/hci/user-in-the-box/uitb/tasks/remote_driving/assets/car/gear.scad b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/car/gear.scad new file mode 100644 index 00000000..5b82c43f --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/car/gear.scad @@ -0,0 +1,10 @@ +include +/* +From: https://github.com/chrisspen/gears/blob/d8779513ced77eecefb5490613ee0ab49e321055/gears.scad +License: +OpenSCAD / Gears Library for OpenSCAD (https://www.thingiverse.com/thing:1604369) by janssen86 is licensed under the Creative Commons - Attribution - Non-Commercial - Share Alike license. http://creativecommons.org/licenses/by-nc-sa/3.0/ +*/ + +scale([0.001, 0.001, 0.001]) +rotate([90, 0, 0]) +spur_gear(2, 20, 10, 5, pressure_angle=20, helix_angle=0, optimized=true); diff --git a/hci/user-in-the-box/uitb/tasks/remote_driving/assets/car/gear.stl b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/car/gear.stl new file mode 100644 index 00000000..acdc547a Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/car/gear.stl differ diff --git a/hci/user-in-the-box/uitb/tasks/remote_driving/assets/car/steering_rack.scad b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/car/steering_rack.scad new file mode 100644 index 00000000..43fda13b --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/car/steering_rack.scad @@ -0,0 +1,61 @@ +include +/* +From: https://github.com/chrisspen/gears/blob/d8779513ced77eecefb5490613ee0ab49e321055/gears.scad +License: +OpenSCAD / Gears Library for OpenSCAD (https://www.thingiverse.com/thing:1604369) by janssen86 is licensed under the Creative Commons - Attribution - Non-Commercial - Share Alike license. http://creativecommons.org/licenses/by-nc-sa/3.0/ +*/ + +scale([0.001, 0.001, 0.001]) +union() { + rotate([90, 0, 0]) + rack(2, 100, 10, 10, pressure_angle=20, helix_angle=0); + + translate([48, -10, -10]) + cube([35, 10, 10]); + + translate([-83, -10, -10]) + cube([35, 10, 10]); + + translate([-93, -10, -10]) + get_joint(); + + translate([93, 0, -10]) + rotate([0, 0, 180]) + get_joint(); +} + +module get_joint() { + union() { + get_cover(); + + translate([0, 0, 8]) + get_cover(); + + translate([2, 5, 0]) + cylinder(10, 1.5, 1.5, $fn=30); + } +} + +module get_cover() { + union() { + radius = 2; + angles = [45, 135]; + points = [ + for(a = [angles[0]:1:angles[1]]) [radius * cos(a), radius * sin(a)] + ]; + translate([2, 5, 0]) + rotate([0, 0, 90]) + linear_extrude(height = 2, center = false, convexity = 10) + polygon(concat([[0, 0]], points)); + + translate([2, 5, 0]) + rotate([0, 0, 90]) + linear_extrude(height = 2, center = false, convexity = 10) + polygon([ + [5, -8], + [radius * cos(angles[0]), radius * sin(angles[0])], + [radius * cos(angles[1]), radius * sin(angles[1])], + [-5, -8] + ]); + } +} diff --git a/hci/user-in-the-box/uitb/tasks/remote_driving/assets/car/steering_rack.stl b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/car/steering_rack.stl new file mode 100644 index 00000000..41bc269a Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/car/steering_rack.stl differ diff --git a/hci/user-in-the-box/uitb/tasks/remote_driving/assets/car/suspension_part1.scad b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/car/suspension_part1.scad new file mode 100644 index 00000000..71699119 --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/car/suspension_part1.scad @@ -0,0 +1,44 @@ +scale([0.001, 0.001, 0.001]) +union() { + cube([5, 10, 10]); + + translate([15, 10, 0]) + rotate([0, 0, 180]) + get_joint(); +} + +module get_joint() { + union() { + get_cover(); + + translate([0, 0, 8]) + get_cover(); + + translate([2, 5, 0]) + cylinder(10, 1.5, 1.5, $fn=30); + } +} + +module get_cover() { + union() { + radius = 2; + angles = [45, 135]; + points = [ + for(a = [angles[0]:1:angles[1]]) [radius * cos(a), radius * sin(a)] + ]; + translate([2, 5, 0]) + rotate([0, 0, 90]) + linear_extrude(height = 2, center = false, convexity = 10) + polygon(concat([[0, 0]], points)); + + translate([2, 5, 0]) + rotate([0, 0, 90]) + linear_extrude(height = 2, center = false, convexity = 10) + polygon([ + [5, -8], + [radius * cos(angles[0]), radius * sin(angles[0])], + [radius * cos(angles[1]), radius * sin(angles[1])], + [-5, -8] + ]); + } +} \ No newline at end of file diff --git a/hci/user-in-the-box/uitb/tasks/remote_driving/assets/car/suspension_part1.stl b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/car/suspension_part1.stl new file mode 100644 index 00000000..02fcf79f Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/car/suspension_part1.stl differ diff --git a/hci/user-in-the-box/uitb/tasks/remote_driving/assets/car/suspension_part2.scad b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/car/suspension_part2.scad new file mode 100644 index 00000000..63997719 --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/car/suspension_part2.scad @@ -0,0 +1,85 @@ +scale([0.001, 0.001, 0.001]) +rotate([0, 0, 180]) // Is unpleasant to do in mujoco. +union() { + translate([-20, 5, 5]) + rotate([0, 90, 0]) + cylinder(20, 3, 3, $fn=30); + + cube([15, 10, 10]); + + translate([25, 10, 0]) + rotate([0, 0, 180]) + get_joint(); + + steering_arm(); +} + +module steering_arm() { + difference() { + union() { + translate([0, 0, 3]) + get_connector(); + + translate([0, 0, 7]) + get_connector(); + } + translate([25, -25, 0]) + cylinder(15, 1.5, 1.5, $fn=30); + } +} + +module get_connector() { + minkowski() { + rotate([180, 0, 0]) + linear_extrude(height = 1, center = false, convexity = 10) + polygon([ + [5, 0], + [24, 25], + [25, 25], + [25, 24], + [10, 0] + ]); + linear_extrude(height = 1, center = false, convexity = 10) + circle(3, $fn=30); + } + +} + +module get_joint() { + difference() { + union() { + translate([0, 0, 2]) + get_cover(); + + translate([0, 0, 6]) + get_cover(); + } + translate([2, 5, 0]) + cylinder(10, 1.5, 1.5, $fn=30); + } + +} + +module get_cover() { + union() { + radius = 2; + angles = [45, 135]; + points = [ + for(a = [angles[0]:1:angles[1]]) [radius * cos(a), radius * sin(a)] + ]; + translate([2, 5, 0]) + rotate([0, 0, 90]) + linear_extrude(height = 2, center = false, convexity = 10) + polygon(concat([[0, 0]], points)); + + translate([2, 5, 0]) + rotate([0, 0, 90]) + linear_extrude(height = 2, center = false, convexity = 10) + polygon([ + [5, -8], + [radius * cos(angles[0]), radius * sin(angles[0])], + [radius * cos(angles[1]), radius * sin(angles[1])], + [-5, -8] + ]); + } +} \ No newline at end of file diff --git a/hci/user-in-the-box/uitb/tasks/remote_driving/assets/car/suspension_part2.stl b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/car/suspension_part2.stl new file mode 100644 index 00000000..a448abbd Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/car/suspension_part2.stl differ diff --git a/hci/user-in-the-box/uitb/tasks/remote_driving/assets/gamepad/controller_body.scad b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/gamepad/controller_body.scad new file mode 100644 index 00000000..e09d708a --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/gamepad/controller_body.scad @@ -0,0 +1,169 @@ +scale([0.00125, 0.00125, 0.00125]) +difference() { + union() { + difference() { + body_outline(); + translate([-3, 5, 33/2]) + d_pad_indent(); + scale([1.1, 1.1, 1]) + translate([-3, 5, 33/2]) + d_pad(); + translate([144-32, 0, 33/2]) + button_indent(); + } + translate([22, -18, 0]) + thumb_stick_holder(); + translate([90, -18, 0]) + thumb_stick_holder(); + + // Block representing usb-c port + translate([(144-32)/2, 32-5, 10]) + cube([10, 10, 5], true); + } + body_inner(); + + // Add a usb-c port for better detail + translate([(144-32)/2, 32-2, 10]) + rotate([90, 0, 0]) + usb_c_port(); + + // Clear left-over material inside thumb stick holders. + translate([22, -18, 0]) + cylinder(33, 8, 8, true); + translate([90, -18, 0]) + cylinder(33, 8, 8, true); +} + +module body_outline () { + linear_extrude(height = 33, center = true, twist = 0) + union() { + circle(32); + translate([144-32, 0, 0]) + circle(32); + translate([(144-32) / 2, (64-55) / 2, 0]) + square([144-32, 55], true); + }; +} + +module usb_c_port () { + linear_extrude(height = 7, center = true, twist = 0) + difference() { + hull() { + circle(1.5, $fn=50); + translate([5, 0, 0]) + circle(1.5, $fn=50); + } + hull() { + circle(1, $fn=50); + translate([5, 0, 0]) + circle(1, $fn=50); + } + } +} + +module thumb_stick_holder() { + difference() { + minkowski() { + cylinder(33, 8, 8, true); + sphere(4); + } + translate([0, 0, 5]) + cylinder(33, 8, 8, true); + }; +} + +module body_inner () { + linear_extrude(height = 29, center = true, twist = 0) + union() { + circle(28); + translate([144-32, 0, 0]) + circle(28); + translate([(144-28) / 2, (64-55) / 2, 0]) + square([144-28, 47], true); + }; +} + +module d_pad_indent () { + linear_extrude(height = 1, center = true, twist = 0) + circle(20); +} + +module button_indent () { + union() { + linear_extrude(height = 1, center = true, twist = 0) + difference() { + circle(28); + translate([-10, 8, 0]) + rotate([0, 0, 40]) + pill(5.5, 15); + translate([3, -2, 0]) + rotate([0, 0, 40]) + pill(5.5, 15); + } + linear_extrude(height = 5, center = true, twist = 0) + union() { + translate([3, -2, 0]) + circle(4.5); + translate([3 + 15 * cos(40), -2 + 15 * sin(40), 0]) + circle(4.5); + translate([-10, 8, 0]) + circle(4.5); + translate([-10 + 15 * cos(40), 8 + 15 * sin(40), 0]) + circle(4.5); + } + } +} + +module pill (radius, width) { + hull() { + circle(radius); + translate([width, 0, 0]) + circle(radius); + } +} + +module d_pad() { + difference() { + + // The cross. + union() { + cube([8, 30, 5], true); + rotate([0, 0, 90]) + cube([8, 30, 5], true); + } + + // The indentations on the cross. + translate([0, 0, 3.5]) + + // Change the uncommented line to use a different + // resolution cut-out for the center sphere. + sphere(3.5, $fa=5, $fs=0.5); + //sphere(3.5, $fa=5, $fs=0.1); + //sphere(3.5); + + translate([13, 0, 2]) + rotate([0, 0, 90]) + scale([3,3,1]) + linear_extrude(height = 1, center = true, twist = 0) + polygon(points=[[0,0],[-1,sqrt(3)],[1,sqrt(3)]]); + + translate([-13, 0, 2]) + rotate([0, 0, 270]) + scale([3,3,1]) + linear_extrude(height = 1, center = true, twist = 0) + polygon(points=[[0,0],[-1,sqrt(3)],[1,sqrt(3)]]); + + translate([0, 13, 2]) + rotate([0, 0, 180]) + scale([3,3,1]) + linear_extrude(height = 1, center = true, twist = 0) + polygon(points=[[0,0],[-1,sqrt(3)],[1,sqrt(3)]]); + + translate([0, -13, 2]) + rotate([0, 0, 0]) + scale([3,3,1]) + linear_extrude(height = 1, center = true, twist = 0) + polygon(points=[[0,0],[-1,sqrt(3)],[1,sqrt(3)]]); +} + +} \ No newline at end of file diff --git a/hci/user-in-the-box/uitb/tasks/remote_driving/assets/gamepad/controller_body.stl b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/gamepad/controller_body.stl new file mode 100644 index 00000000..ad8f8226 Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/gamepad/controller_body.stl differ diff --git a/hci/user-in-the-box/uitb/tasks/remote_driving/assets/gamepad/d_pad.scad b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/gamepad/d_pad.scad new file mode 100644 index 00000000..dbdef4b3 --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/gamepad/d_pad.scad @@ -0,0 +1,44 @@ +scale([0.00125, 0.00125, 0.00125]) +difference() { + + // The cross. + union() { + cube([8, 30, 5], true); + rotate([0, 0, 90]) + cube([8, 30, 5], true); + } + + // The indentations on the cross. + translate([0, 0, 3.5]) + + // Change the uncommented line to use a different + // resolution cut-out for the center sphere. + sphere(3.5, $fa=5, $fs=0.5); + //sphere(3.5, $fa=5, $fs=0.1); + //sphere(3.5); + + translate([13, 0, 2]) + rotate([0, 0, 90]) + scale([3,3,1]) + linear_extrude(height = 1, center = true, twist = 0) + polygon(points=[[0,0],[-1,sqrt(3)],[1,sqrt(3)]]); + + translate([-13, 0, 2]) + rotate([0, 0, 270]) + scale([3,3,1]) + linear_extrude(height = 1, center = true, twist = 0) + polygon(points=[[0,0],[-1,sqrt(3)],[1,sqrt(3)]]); + + translate([0, 13, 2]) + rotate([0, 0, 180]) + scale([3,3,1]) + linear_extrude(height = 1, center = true, twist = 0) + polygon(points=[[0,0],[-1,sqrt(3)],[1,sqrt(3)]]); + + translate([0, -13, 2]) + rotate([0, 0, 0]) + scale([3,3,1]) + linear_extrude(height = 1, center = true, twist = 0) + polygon(points=[[0,0],[-1,sqrt(3)],[1,sqrt(3)]]); +} + diff --git a/hci/user-in-the-box/uitb/tasks/remote_driving/assets/gamepad/d_pad.stl b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/gamepad/d_pad.stl new file mode 100644 index 00000000..a8239d2e Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/gamepad/d_pad.stl differ diff --git a/hci/user-in-the-box/uitb/tasks/remote_driving/assets/gamepad/game_action_button.scad b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/gamepad/game_action_button.scad new file mode 100644 index 00000000..aad272eb --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/gamepad/game_action_button.scad @@ -0,0 +1,13 @@ +scale([0.00125, 0.00125, 0.00125]) +scale([0.85, 0.85, 1]) +difference() { + minkowski() { + cylinder(3, 3, 3, $fn=40, true); + sphere(2, $fn=20); + }; + translate([0, 0, -3]) + cube([10, 10, 5], true); +} + + + diff --git a/hci/user-in-the-box/uitb/tasks/remote_driving/assets/gamepad/game_action_button.stl b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/gamepad/game_action_button.stl new file mode 100644 index 00000000..af5f2590 Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/gamepad/game_action_button.stl differ diff --git a/hci/user-in-the-box/uitb/tasks/remote_driving/assets/gamepad/thumb_stick.scad b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/gamepad/thumb_stick.scad new file mode 100644 index 00000000..f8082cd4 --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/gamepad/thumb_stick.scad @@ -0,0 +1,40 @@ +// The whole thumb stick. +shaft_length = 30; +scale([0.00125, 0.00125, 0.00125]) +scale([0.5, 0.5, 0.5]) +union() { + // The little dots for improved grip. + translate([13, 0, shaft_length + 0.6]) + sphere(1); + + translate([-13, 0, shaft_length + 0.6]) + sphere(1); + + translate([0, 13, shaft_length + 0.6]) + sphere(1); + + translate([0, -13, shaft_length + 0.6]) + sphere(1); + + // The head of the thumb stick. + translate([0, 0, shaft_length]) + difference() { + linear_extrude(height = 3, center = true, convexity = 10, twist = 0) + circle(18); + translate([0, 0, 89.6]) + sphere(90); + }; + + // The shaft of the thumb stick. + translate([0, 0, 5]) + cylinder(shaft_length - 5, 8, 8); + + // The lower sphere used to mount the thumb stick + // to the game controller body. + difference() { + translate([0, 0, -20]) + sphere(30); + translate([0, 0, -100]) + cube([200, 200, 200], true); + }; +} diff --git a/hci/user-in-the-box/uitb/tasks/remote_driving/assets/gamepad/thumb_stick.stl b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/gamepad/thumb_stick.stl new file mode 100644 index 00000000..1d1521d6 Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/remote_driving/assets/gamepad/thumb_stick.stl differ diff --git a/hci/user-in-the-box/uitb/tasks/remote_driving/reward_functions.py b/hci/user-in-the-box/uitb/tasks/remote_driving/reward_functions.py new file mode 100644 index 00000000..fe0d68e1 --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/remote_driving/reward_functions.py @@ -0,0 +1,108 @@ +from abc import ABC, abstractmethod +import numpy as np + + +class BaseFunction(ABC): + @abstractmethod + def get(self, ee_joystick, car_target, info, model, data): + pass + @abstractmethod + def reset(self): + pass + +class NegativeExpDistance(BaseFunction): + + def __init__(self, joystick_specs=None, target_specs=None): + + # Default parameters for joystick related components + self.joystick_specs = {"k": 3, "shift": -1, "scale": 1, + "bonus": 0, "bonus_active": False, "bonus_onetime": False} + # Update parameters if needed + if joystick_specs is not None: + self.joystick_specs.update(joystick_specs) + self.joystick_bonus_active = self.joystick_specs["bonus_active"] + + # Default parameters for target related components + self.target_specs = {"k": 3, "shift": -1, "scale": 0.1, + "bonus": 8, "bonus_active": True, "bonus_onetime": False} + # Update parameters if needed + if target_specs is not None: + self.target_specs.update(target_specs) + self.target_bonus_active = self.target_specs["bonus_active"] + + def get(self, dist_ee_joystick, dist_car_target, info, model, data): + + cost = lambda dist, specs: (np.exp(-dist*specs["k"]) + specs["shift"])*specs["scale"] + + # Distance between end-effector and joystick + reward = cost(dist_ee_joystick, self.joystick_specs) + + # Distance between car and target + reward += cost(dist_car_target, self.target_specs) + + # Bonus for hitting joystick + if self.joystick_bonus_active and info["end_effector_at_joystick"]: + reward += self.joystick_specs["bonus"] + if self.joystick_specs["bonus_onetime"]: + self.joystick_bonus_active = False + + # Bonus for being inside target + if self.target_bonus_active and info["inside_target"]: + reward += self.target_specs["bonus"] + if self.target_specs["bonus_onetime"]: + self.target_bonus_active = False + + return reward + + def reset(self): + self.joystick_bonus_active = self.joystick_specs["bonus_active"] + self.target_bonus_active = self.target_specs["bonus_active"] + + +class PositiveExpDistance(BaseFunction): + + def __init__(self, joystick_specs=None, target_specs=None): + + # Default parameters for joystick related components + self.joystick_specs = {"k": 3, "shift": 0, "scale": 0.1, + "bonus": 0, "bonus_active": False, "bonus_onetime": False} + # Update parameters if needed + if joystick_specs is not None: + self.joystick_specs.update(joystick_specs) + self.joystick_bonus_active = self.joystick_specs["bonus_active"] + + # Default parameters for target related components + self.target_specs = {"k": 3, "shift": 0, "scale": 0.1, + "bonus": 1, "bonus_active": True, "bonus_onetime": False} + # Update parameters if needed + if target_specs is not None: + self.target_specs.update(target_specs) + self.target_bonus_active = self.target_specs["bonus_active"] + + def get(self, dist_ee_joystick, dist_car_target, info, model, data): + + cost = lambda dist, specs: (np.exp(-dist*specs["k"]) + specs["shift"])*specs["scale"] + + # Distance between end-effector and joystick + reward = cost(dist_ee_joystick, self.joystick_specs) + + # Distance between car and target + reward += cost(dist_car_target, self.target_specs) + + # Bonus for hitting joystick + if self.joystick_bonus_active and info["end_effector_at_joystick"]: + reward += self.joystick_specs["bonus"] + if self.joystick_specs["bonus_onetime"]: + self.joystick_bonus_active = False + + # Bonus for being inside target + if self.target_bonus_active and info["inside_target"]: + reward += self.target_specs["bonus"] + if self.target_specs["bonus_onetime"]: + self.target_bonus_active = False + + return reward + + def reset(self): + self.joystick_bonus_active = self.joystick_specs["bonus_active"] + self.target_bonus_active = self.target_specs["bonus_active"] diff --git a/hci/user-in-the-box/uitb/tasks/remote_driving/task.xml b/hci/user-in-the-box/uitb/tasks/remote_driving/task.xml new file mode 100644 index 00000000..c0aa452f --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/remote_driving/task.xml @@ -0,0 +1,169 @@ + + + + \ No newline at end of file diff --git a/hci/user-in-the-box/uitb/tasks/small_object_touch/SmallObjectTouch.py b/hci/user-in-the-box/uitb/tasks/small_object_touch/SmallObjectTouch.py new file mode 100644 index 00000000..268f01bb --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/small_object_touch/SmallObjectTouch.py @@ -0,0 +1,153 @@ +import numpy as np +import mujoco + +from .reward_functions import NegativeExpDistanceWithHitBonus +from ..base import BaseTask + + +class SmallObjectTouch(BaseTask): + """指尖接近并触碰小目标球体；在 Pointing 式停留判定基础上增加「真实接触」奖励，适合毕业设计「抓取/触碰」演示。""" + + def __init__(self, model, data, end_effector, shoulder, **kwargs): + super().__init__(model, data, **kwargs) + + if not isinstance(end_effector, list) or len(end_effector) != 2: + raise RuntimeError("'end_effector' must be a list [type, name], e.g. [\"geom\", \"hand_2distph\"]") + self._end_effector = end_effector + + if not isinstance(shoulder, list) or len(shoulder) != 2: + raise RuntimeError("'shoulder' must be a list with two elements") + self._shoulder = shoulder + + self._touch_bonus = float(kwargs.get("touch_bonus", 0.25)) + self._touch_margin_m = float(kwargs.get("touch_margin_m", 0.004)) + + self._steps_since_last_hit = 0 + self._max_steps_without_hit = self._action_sample_freq * 4 + + self._info = {"target_hit": False, "inside_target": False, "target_spawned": False, "terminated": False, + "truncated": False, "termination": False, "object_contact": False} + + self._trial_idx = 0 + self._max_trials = kwargs.get("max_trials", 8) + self._targets_hit = 0 + + self._steps_inside_target = 0 + self._dwell_threshold = int(0.5 * self._action_sample_freq) + + self._target_radius_limit = kwargs.get("target_radius_limit", np.array([0.02, 0.05])) + self._target_radius = self._target_radius_limit[0] + self._new_target_distance_threshold = 2 * self._target_radius_limit[1] + + self._reward_function = NegativeExpDistanceWithHitBonus(k=12) + + mujoco.mj_forward(model, data) + + self._target_origin = getattr(data, self._shoulder[0])(self._shoulder[1]).xpos + np.array([0.55, -0.1, 0]) + self._target_position = self._target_origin.copy() + self._target_limits_y = np.array([-0.28, 0.28]) + self._target_limits_z = np.array([-0.28, 0.28]) + + model.geom("target-plane").size = np.array([0.005, + (self._target_limits_y[1] - self._target_limits_y[0]) / 2, + (self._target_limits_z[1] - self._target_limits_z[0]) / 2]) + model.body("target-plane").pos = self._target_origin + + model.cam_pos[mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, "for_testing")] = np.array([1.1, -0.9, 0.95]) + model.cam_quat[mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, "for_testing")] = np.array( + [0.6582, 0.6577, 0.2590, 0.2588]) + + def _proximity_touch(self, dist_surface): + return dist_surface <= self._touch_margin_m + + def _update(self, model, data): + terminated = False + truncated = False + self._info["target_spawned"] = False + + ee_position = getattr(data, self._end_effector[0])(self._end_effector[1]).xpos + dist = np.linalg.norm(self._target_position - (ee_position - self._target_origin)) + dist_surface = dist - self._target_radius + touch = self._proximity_touch(dist_surface) + self._info["object_contact"] = touch + + if dist < self._target_radius: + self._steps_inside_target += 1 + self._info["inside_target"] = True + else: + self._steps_inside_target = 0 + self._info["inside_target"] = False + + if self._info["inside_target"] and self._steps_inside_target >= self._dwell_threshold: + self._info["target_hit"] = True + self._trial_idx += 1 + self._targets_hit += 1 + self._steps_since_last_hit = 0 + self._steps_inside_target = 0 + self._info["acc_dist"] += dist + self._spawn_target(model, data) + self._info["target_spawned"] = True + else: + self._info["target_hit"] = False + self._steps_since_last_hit += 1 + if self._steps_since_last_hit >= self._max_steps_without_hit: + self._steps_since_last_hit = 0 + self._trial_idx += 1 + self._info["acc_dist"] += dist + self._spawn_target(model, data) + self._info["target_spawned"] = True + + if self._trial_idx >= self._max_trials: + self._info["dist_from_target"] = self._info["acc_dist"] / max(self._trial_idx, 1) + truncated = True + self._info["termination"] = "max_trials_reached" + + reward = self._reward_function.get(self, dist - self._target_radius, self._info.copy()) + if touch: + reward += self._touch_bonus + + return reward, terminated, truncated, self._info.copy() + + def _get_state(self, model, data): + state = dict() + ee_position = getattr(data, self._end_effector[0])(self._end_effector[1]).xpos.copy() + dist_center = float(np.linalg.norm(self._target_position - (ee_position - self._target_origin))) + state["ee_position"] = ee_position + state["dist_to_target_center"] = dist_center + state["dist_to_target_surface"] = float(dist_center - self._target_radius) + state["target_position"] = self._target_origin.copy() + self._target_position.copy() + state["target_radius"] = self._target_radius + state["trial_idx"] = self._trial_idx + state["targets_hit"] = self._targets_hit + state.update(self._info) + return state + + def _reset(self, model, data): + self._steps_since_last_hit = 0 + self._steps_inside_target = 0 + self._trial_idx = 0 + self._targets_hit = 0 + self._info = {"target_hit": False, "inside_target": False, "target_spawned": False, + "terminated": False, "truncated": False, "termination": False, + "llc_dist_from_target": 0, "dist_from_target": 0, "acc_dist": 0, "object_contact": False} + self._spawn_target(model, data) + return self._info + + def _spawn_target(self, model, data): + for _ in range(10): + target_y = self._rng.uniform(*self._target_limits_y) + target_z = self._rng.uniform(*self._target_limits_z) + new_position = np.array([0, target_y, target_z]) + distance = np.linalg.norm(self._target_position - new_position) + if distance > self._new_target_distance_threshold: + break + self._target_position = new_position + model.body("target").pos[:] = self._target_origin + self._target_position + self._target_radius = self._rng.uniform(*self._target_radius_limit) + model.geom("target").size[0] = self._target_radius + mujoco.mj_forward(model, data) + + def get_stateful_information(self, model, data): + targets_hit = -1.0 + 2 * (self._trial_idx / self._max_trials) + dwell_time = -1.0 + 2 * np.min([1.0, self._steps_inside_target / self._dwell_threshold]) + return np.array([dwell_time, targets_hit]) diff --git a/hci/user-in-the-box/uitb/tasks/small_object_touch/__pycache__/SmallObjectTouch.cpython-311.pyc b/hci/user-in-the-box/uitb/tasks/small_object_touch/__pycache__/SmallObjectTouch.cpython-311.pyc new file mode 100644 index 00000000..91865ca7 Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/small_object_touch/__pycache__/SmallObjectTouch.cpython-311.pyc differ diff --git a/hci/user-in-the-box/uitb/tasks/small_object_touch/__pycache__/reward_functions.cpython-311.pyc b/hci/user-in-the-box/uitb/tasks/small_object_touch/__pycache__/reward_functions.cpython-311.pyc new file mode 100644 index 00000000..80f7b525 Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/small_object_touch/__pycache__/reward_functions.cpython-311.pyc differ diff --git a/hci/user-in-the-box/uitb/tasks/small_object_touch/reward_functions.py b/hci/user-in-the-box/uitb/tasks/small_object_touch/reward_functions.py new file mode 100644 index 00000000..42ec45c8 --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/small_object_touch/reward_functions.py @@ -0,0 +1 @@ +from ..pointing.reward_functions import * # noqa: F401,F403 diff --git a/hci/user-in-the-box/uitb/tasks/small_object_touch/task.xml b/hci/user-in-the-box/uitb/tasks/small_object_touch/task.xml new file mode 100644 index 00000000..cecb46c5 --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/small_object_touch/task.xml @@ -0,0 +1,19 @@ + + + + diff --git a/hci/user-in-the-box/uitb/tasks/tracking/Tracking.py b/hci/user-in-the-box/uitb/tasks/tracking/Tracking.py new file mode 100644 index 00000000..0a499d4e --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/tracking/Tracking.py @@ -0,0 +1,153 @@ +import numpy as np +import mujoco + +from ..base import BaseTask +from .reward_functions import NegativeDistance, NegativeExpDistanceWithHitBonus + + +class Tracking(BaseTask): + + def __init__(self, model, data, end_effector, shoulder, freq_curriculum, **kwargs): + super().__init__(model, data, **kwargs) + + # This task requires an end-effector to be defined + if not isinstance(end_effector, list) and len(end_effector) != 2: + raise RuntimeError("'end_effector' must be a list with two elements: first defines the mujoco element type, and " + "second defines the name.") + self._end_effector = end_effector + + # Also a shoulder that is used to define the location of target plane + if not isinstance(shoulder, list) and len(shoulder) != 2: + raise RuntimeError("'shoulder' must be a list with two elements: first defines the mujoco element type, and " + "second defines the name.") + self._shoulder = shoulder + + # Define episode length + episode_length_seconds = kwargs.get('episode_length_seconds', 10) + self._max_episode_steps = kwargs.get('max_episode_steps', self._action_sample_freq*episode_length_seconds) + + # Define some limits for target movement speed + self._min_frequency = 0.0 + self._max_frequency = 0.5 + self._freq_curriculum = freq_curriculum.value + + # For logging + self._info = {"terminated": False, "truncated": False, "termination": False, "inside_target": False} + + # Define a default reward function + self._reward_function = NegativeDistance() + #self._reward_function = NegativeExpDistanceWithHitBonus(k=3, scale=1.0, bonus=0) + + # Target radius + self._target_radius = kwargs.get('target_radius', 0.05) + model.geom("target").size[0] = self._target_radius + + # Do a forward step so stuff like geom and body positions are calculated + mujoco.mj_forward(model, data) + + # Define plane where targets will move: 0.55m in front of and 0.1m to the right of shoulder. + # Note that the body is not fixed but moves with the shoulder, so the model is assumed to be in initial position + self._target_origin = getattr(data, self._shoulder[0])(self._shoulder[1]).xpos + np.array([0.55, -0.1, 0]) + self._target_position = self._target_origin.copy() + self._target_limits_y = np.array([-0.3, 0.3]) + self._target_limits_z = np.array([-0.3, 0.3]) + + # Update plane location + model.geom("target-plane").size = np.array([0.005, + (self._target_limits_y[1] - self._target_limits_y[0])/2, + (self._target_limits_z[1] - self._target_limits_z[0])/2]) + model.body("target-plane").pos = self._target_origin + + # Generate trajectory + self._sin_y, self._sin_z = self._generate_trajectory() + + model.cam("for_testing").pos = np.array([-0.8, -0.6, 1.5]) + model.cam("for_testing").quat = np.array([0.718027, 0.4371043, -0.31987, -0.4371043]) + + def _update(self, model, data): + + # Set defaults + terminated = False + truncated = False + self._info = {"termination": False} + + # Get end-effector position + ee_position = getattr(data, self._end_effector[0])(self._end_effector[1]).xpos.copy() + + # Distance to target origin + dist = np.linalg.norm(self._target_position - (ee_position - self._target_origin)) + + # Is fingertip inside target? + if dist <= self._target_radius: + self._info["inside_target"] = True + else: + self._info["inside_target"] = False + + # Check if time limit has been reached + if self._steps >= self._max_episode_steps: + truncated = True + self._info["termination"] = "time_limit_reached" + + # Calculate reward; note, inputting distance to surface into reward function, hence distance can be negative if + # fingertip is inside target + reward = self._reward_function.get(self, dist-self._target_radius, self._info.copy()) + + # Update target location + self._update_target_location(model, data) + + return reward, terminated, truncated, self._info.copy() + + def _get_state(self, model, data): + state = dict() + ee_position = getattr(data, self._end_effector[0])(self._end_effector[1]).xpos.copy() + dist_center = float(np.linalg.norm(self._target_position - (ee_position - self._target_origin))) + state["ee_position"] = ee_position + state["target_position_world"] = data.body("target").xpos.copy() + state["dist_to_target_center"] = dist_center + state["dist_to_target_surface"] = float(dist_center - self._target_radius) + state.update(self._info) + return state + + def _reset(self, model, data): + + self._info = {"terminated": False, "truncated": False, "termination": False, "inside_target": False} + + # Generate a new trajectory + self._sin_y, self._sin_z = self._generate_trajectory() + + # Update target location + self._update_target_location(model, data) + + return self._info + + def _generate_trajectory(self): + sin_y = self._generate_sine_wave(self._target_limits_y, num_components=5) + sin_z = self._generate_sine_wave(self._target_limits_z, num_components=5) + return sin_y, sin_z + + def _generate_sine_wave(self, limits, num_components=5, min_amplitude=1, max_amplitude=5): + + max_frequency = self._min_frequency + (self._max_frequency-self._min_frequency) * self._freq_curriculum() + + # Generate a sine wave with multiple components + t = np.arange(self._max_episode_steps+1) * self._dt + sine = np.zeros((t.size,)) + sum_amplitude = 0 + for _ in range(num_components): + amplitude = self._rng.uniform(min_amplitude, max_amplitude) + sine += amplitude *\ + np.sin(self._rng.uniform(self._min_frequency, max_frequency)*2*np.pi*t + self._rng.uniform(0, 2*np.pi)) + sum_amplitude += amplitude + + # Normalise to fit limits + sine = (sine + sum_amplitude) / (2*sum_amplitude) + sine = limits[0] + (limits[1] - limits[0])*sine + + return sine + + def _update_target_location(self, model, data): + self._target_position[0] = 0 + self._target_position[1] = self._sin_y[self._steps] + self._target_position[2] = self._sin_z[self._steps] + model.body("target").pos = self._target_origin + self._target_position + mujoco.mj_forward(model, data) diff --git a/hci/user-in-the-box/uitb/tasks/tracking/__init__.py b/hci/user-in-the-box/uitb/tasks/tracking/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/hci/user-in-the-box/uitb/tasks/tracking/__pycache__/Tracking.cpython-311.pyc b/hci/user-in-the-box/uitb/tasks/tracking/__pycache__/Tracking.cpython-311.pyc new file mode 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00000000..47422aca --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/tracking/reward_functions.py @@ -0,0 +1,67 @@ +from abc import ABC, abstractmethod +import numpy as np + +class BaseFunction(ABC): + @abstractmethod + def get(self, env, dist, info): + pass + @abstractmethod + def __repr__(self): + pass + + +class ExpDistanceWithHitBonus(BaseFunction): + + def get(self, env, dist, info): + if info["inside_target"]: + return 1 + else: + return np.exp(-dist * 10) / 10 + + def __repr__(self): + return "ExpDistanceWithHitBonus" + + +class NegativeExpDistanceWithHitBonus(BaseFunction): + + def __init__(self, k=3.0, scale=1.0, bonus=1.0): + self.k = k + self.scale = scale + self.bonus = bonus + + def get(self, env, dist, info): + if info["inside_target"]: + return self.bonus + else: + if callable(self.k): + k = self.k() + else: + k = self.k + return self.scale*(np.exp(-dist*k) - 1) + + def __repr__(self): + return "NegativeExpDistanceWithHitBonus" + + +class NegativeDistance(BaseFunction): + + def get(self, env, dist, info): + if info["inside_target"]: + return 0 + else: + return -dist + + def __repr__(self): + return "NegativeDistance" + + +class NegativeDistanceWithHitBonus(BaseFunction): + + def get(self, env, dist, info): + if info["inside_target"]: + return 1 + else: + return -dist + + def __repr__(self): + return "NegativeDistanceWithHitBonus" diff --git a/hci/user-in-the-box/uitb/tasks/tracking/task.xml b/hci/user-in-the-box/uitb/tasks/tracking/task.xml new file mode 100644 index 00000000..14b551f3 --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/tracking/task.xml @@ -0,0 +1,19 @@ + + + + \ No newline at end of file diff --git a/hci/user-in-the-box/uitb/tasks/unity/Unity.py b/hci/user-in-the-box/uitb/tasks/unity/Unity.py new file mode 100644 index 00000000..21c8a9c9 --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/unity/Unity.py @@ -0,0 +1,330 @@ +import numpy as np +import mujoco +from scipy.spatial.transform import Rotation +import xml.etree.ElementTree as ET +import os +import pathlib +import json +import wandb + + +from ..base import BaseTask +from ...utils.transformations import transformation_matrix +from ...utils.unity import UnityClient, images_to_video +from ...utils.functions import initialise_pos_and_quat + + +class UnityEnv(BaseTask): + # IMPORTANT: This task expects that in Unity Z is forward, Y is up, and X is to the right, and + # that in MuJoCo Z is up, Y is to the left, and X is forward. If these don't hold, then the + # transformations will not be correct + + def __init__(self, model, data, gear, left_controller_enabled=False, **kwargs): + super().__init__(model, data, **kwargs) + + # Fire up the Unity client if we're really starting the simulation and not just building + if not kwargs.get("build", False): + + # Get path for the application binary/executable file + app_path = os.path.join(pathlib.Path(__file__).parent, kwargs["unity_executable"]) + + # Parse app args + app_args = kwargs.get("app_args", []) + + # Check for output folder + self._output_folder = None + if "unity_output_folder" in kwargs: + self._output_folder = kwargs["unity_output_folder"] + app_args.extend(["-outputFolder", self._output_folder]) + + # Check for recording and resolution + self._record = kwargs.get("unity_record_gameplay", False) + self._resolution = kwargs.get("unity_record_resolution", + f"{model.vis.global_.offwidth}x{model.vis.global_.offheight}") + if self._record: + app_args.extend(["-record", "-resolution", self._resolution]) + + # Check for logging + self._logging = kwargs.get("unity_logging", False) + if self._logging: + app_args.extend(["-logging"]) + + # Check if we want to set the random seed + if "unity_random_seed" in kwargs: + app_args.extend(["-fixedSeed", f"{kwargs['unity_random_seed']}"]) + + # Start a Unity client + self._standalone = kwargs.get("standalone", True) + self._unity_client = UnityClient(unity_executable=app_path, + port=kwargs.get("port", None), + standalone=self._standalone, + app_args=app_args) + + # Wait until app is up and running. Send time options to unity app + time_options = {"timestep": model.opt.timestep, "sampleFrequency": kwargs["action_sample_freq"], + "timeScale": kwargs["time_scale"]} + self.initial_state = self._unity_client.handshake(time_options) + + # Used for logging states + self._info = {"terminated": False, + "truncated": False, "unity_image": None} + + # This task requires an end-effector to be defined; also, it must be a body + # Would be nicer to have this check in the "initialise" method of this class, but not currently possible because + # of the order in which mujoco xml files are merged (task -> bm_model -> perception). + if mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_BODY, kwargs["right_controller_body"]) == -1: + raise KeyError(f"'right_controller_body' must be a body, no body called {kwargs['right_controller_body']} found in the model") + + # Left controller can be disabled or enabled + self.left_controller_enabled = left_controller_enabled + if left_controller_enabled: + if mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_BODY, kwargs["left_controller_body"]) == -1: + raise KeyError( + f"'left_controller_body' must be a body, no body called {kwargs['left_controller_body']} found in the model") + + # Check for headset + if mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_BODY, kwargs["headset_body"]) == -1: + raise KeyError(f"'headset_body' must be a body, no body called {kwargs['headset_body']} found in the model") + + # Let's try to keep time in mujoco and unity synced + self._current_timestep = 0 + + # Use early termination if target is not hit in time + self._max_steps = self._action_sample_freq*kwargs.get("max_episode_length_seconds", 1000) + + # Unity returns a time feature to indicate how much of episode is left, scaled [-1, 1] + self._time = -1 + + # Geom's mass property is not saved when we save the integrated model xml file (would be saved in binary mjcf + # though). So let's set it here again just to be sure + model.body_mass[mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_BODY, "controller-right")] = 0.129 + if left_controller_enabled: + model.body_mass[mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_BODY, "controller-left")] = 0.129 + model.body_mass[mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_BODY, "headset")] = 0.571 + + # Do a forward step so body positions are updated + mujoco.mj_forward(model, data) + + # '*_relpose' is defined with respect to the '*_body'. We need to move the object to the correct position to make + # sure there aren't any quick movements in the first timesteps when mujoco starts enforcing the equality constraint + initialise_pos_and_quat(model=model, data=data, aux_body=kwargs["right_controller_body"], + relpose=kwargs["right_controller_relpose"], body="controller-right") + if self.left_controller_enabled: + initialise_pos_and_quat(model=model, data=data, aux_body=kwargs["left_controller_body"], + relpose=kwargs["left_controller_relpose"], body="controller-left") + initialise_pos_and_quat(model=model, data=data, aux_body=kwargs["headset_body"], + relpose=kwargs["headset_relpose"], body="headset") + + # OpenXR has a slight offset that applies to each controller (the origin of the controller is slightly offset + # in Unity). You probably could use this same for for other VR gears, or just use an identity matrix + self.offsets = { + "oculus-quest-1": transformation_matrix(pos=np.array([0.053, 0, 0.002]), quat=np.array([1, 0, 0, 0]), + scalar_first=True) + } + + # Check if offset has been defined + self.gear = gear + if gear not in self.offsets: + raise NotImplementedError(f"Offset has not been defined for VR gear {gear}") + + # # We may need to override headset orientation in some cases + # self._override_headset_orientation = kwargs.get("override_headset_orientation", None) + + # Set camera angle + model.cam_pos[mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, 'for_testing')] = np.array([1.2, -0.8, 0.95]) + model.cam_quat[mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, 'for_testing')] = np.array( + [0.6369657, 0.6364587, 0.3076895, 0.3074446]) + + @classmethod + def initialise(cls, task_kwargs): + + # Make sure body for right controller is defined, as well as the relative position of the controller wrt to it + if "right_controller_body" not in task_kwargs: + raise KeyError("Key 'right_controller_body' is missing from task kwargs. The end-effector body must be defined " + "for this environment") + if "right_controller_relpose" not in task_kwargs: + raise KeyError("Key 'right_controller_relpose' is missing from task kwargs. This key defines the relative pose " + "of right controller wrt to end-effector, and it must be defined for this environment") + + if "left_controller_enabled" not in task_kwargs: + raise KeyError("Key 'left_controller_enabled' is missing from task kwargs.") + + if task_kwargs["left_controller_enabled"]: + if "left_controller_body" not in task_kwargs: + raise KeyError("Key 'left_controller_body' is missing from task kwargs. The end-effector body must be defined " + "for this environment") + if "left_controller_relpose" not in task_kwargs: + raise KeyError("Key 'left_controller_relpose' is missing from task kwargs. This key defines the relative pose " + "of left controller wrt to end-effector, and it must be defined for this environment") + + # Make sure body for headset is defined, as well as the relative position of headset wrt to it + if "headset_body" not in task_kwargs: + raise KeyError("Key 'headset_body' is missing from task kwargs. The headset body must be defined for this " + "environment") + if "headset_relpose" not in task_kwargs: + raise KeyError("Key 'headset_relpose' is missing from task kwargs. This key defines the relative pose of " + "the headset wrt to a head, and it must be defined for this environment") + + # Parse xml file + tree = ET.parse(cls.get_xml_file()) + root = tree.getroot() + + # Find equalities + equality = root.find("equality") + if equality is None: + equality = ET.Element("equality") + root.append(equality) + + # Add a weld equality for right controller + equality.append(ET.Element("weld", + name="controller-right-weld", + body1="controller-right", + body2=task_kwargs["right_controller_body"], + relpose=" ".join([str(x) for x in task_kwargs["right_controller_relpose"]]), + active="true")) + + # If left controller is not enabled, remove it from the model; if it is enabled, add a weld equality + if task_kwargs["left_controller_enabled"]: + equality.append(ET.Element("weld", + name="controller-left-weld", + body1="controller-left", + body2=task_kwargs["left_controller_body"], + relpose=" ".join([str(x) for x in task_kwargs["left_controller_relpose"]]), + active="true")) + else: + worldbody = root.find("worldbody") + worldbody.remove(worldbody.find("body[@name='controller-left']")) + contact = root.find("contact") + contact.remove(contact.find("pair[@name='headset-controller-left']")) + contact.remove(contact.find("pair[@name='controllers']")) + + # Add a weld equality for headset + equality.append(ET.Element("weld", + name="headset-weld", + body1="headset", + body2=task_kwargs["headset_body"], + relpose=" ".join([str(x) for x in task_kwargs["headset_relpose"]]), + active="true")) + + return tree + + def _update(self, model, data): + + is_finished = False + truncated = False #TODO: should we allow for truncation (using self._max_trials)? + + # Update timestep + self._current_timestep = data.time + + # Check if episode length has been exceeded + if self._steps >= self._max_steps: + is_finished = True + truncated = True + self._info["termination"] = "max_steps_reached" + + # Send end effector position and rotation to unity, get reward and image from camera + obs, reward, is_app_finished, log_dict = self._unity_client.step(self._create_state(model, data), is_finished) + log_dict = json.loads(log_dict) #TODO: improve json serializer such that it directly unpacks json dict correctly + self._time = obs["time"] + + if is_finished and not is_app_finished: + raise RuntimeError("User simulation has terminated an episode but Unity app has not") + + terminated = is_app_finished + + self._info["terminated"] = terminated + self._info["truncated"] = truncated + self._info["unity_image"] = obs["image"] + # self._info["log_dict"] = log_dict + self._info.update(log_dict) + + if wandb.run is not None: + wandb.log(log_dict) + + return reward, terminated, truncated, self._info + + def get_stateful_information(self, model, data): + return np.array([self._time]) + + def _transform_to_unity(self, pos, quat, apply_offset=False): + + T_controller = transformation_matrix(pos=pos, quat=quat, scalar_first=True) + + # Check if we need to offset the position/rotation + if apply_offset: + T_controller = np.matmul(T_controller, self.offsets[self.gear]) + + # Get (updated) pos and quat; quat is in scalar-last format + pos = T_controller[:3, 3] + quat = Rotation.from_matrix(T_controller[:3, :3]).as_quat() + + # Transform from MuJoCo's right hand side coordinate system to Unity's left hand side coordinate system + pos = {"x": -pos[1], "y": pos[2], "z": pos[0]} + quat = {"x": -quat[1], "y": quat[2], "z": quat[0], "w": -quat[3]} + + return pos, quat + + def _create_state(self, model, data): + + # Get position and rotation of right controller + controller_right_pos, controller_right_quat = \ + self._transform_to_unity(data.body("controller-right").xpos, data.body("controller-right").xquat, + apply_offset=True) + + if self.left_controller_enabled: + controller_left_pos, controller_left_quat = \ + self._transform_to_unity(data.body("controller-left").xpos, data.body("controller-left").xquat, + apply_offset=True) + else: + controller_left_pos = {"x": 0, "y": 0, "z": 0} + controller_left_quat = {"x": 0, "y": 0, "z": 0, "w": 1.0} + + # Get position and rotation of headset + headset_pos, headset_quat = \ + self._transform_to_unity(data.body("headset").xpos, + data.body("headset").xquat) # if self._override_headset_orientation is None else + # self._override_headset_orientation) + + # Create the state + state = { + "headsetPosition": headset_pos, + "leftControllerPosition": controller_left_pos, + "rightControllerPosition": controller_right_pos, + "headsetRotation": headset_quat, + "leftControllerRotation": controller_left_quat, + "rightControllerRotation": controller_right_quat, + "currentTimestep": self._current_timestep, + "nextTimestep": self._current_timestep + 1/self._action_sample_freq + } + return state + + def _reset(self, model, data): + + # Reset and receive an observation + obs = self._unity_client.reset(self._create_state(model, data)) + + # Set timestep + data.time = self._current_timestep + + # Reset time feature + self._time = obs["time"] + + # Used for logging states + self._info = {"terminated": False, + "truncated": False, "unity_image": obs["image"]} + + return self._info + + def close(self, evaluate_dir=None): + + # Close Unity + self._unity_client.close() + + # If we were recording, create videos from images + if self._record: + if self._standalone: + recording_folder = os.path.join(self._output_folder, "recording") + else: + return #TODO: get correct recording_folder (should be "$HOME/.config/unity3d///recording") + + images_to_video(recording_folder, self._action_sample_freq, self._resolution, evaluate_dir) \ No newline at end of file diff --git a/hci/user-in-the-box/uitb/tasks/unity/__init__.py b/hci/user-in-the-box/uitb/tasks/unity/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/hci/user-in-the-box/uitb/tasks/unity/__pycache__/Unity.cpython-311.pyc b/hci/user-in-the-box/uitb/tasks/unity/__pycache__/Unity.cpython-311.pyc new file mode 100644 index 00000000..a1a15736 Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/unity/__pycache__/Unity.cpython-311.pyc differ diff --git a/hci/user-in-the-box/uitb/tasks/unity/__pycache__/__init__.cpython-311.pyc b/hci/user-in-the-box/uitb/tasks/unity/__pycache__/__init__.cpython-311.pyc new file mode 100644 index 00000000..2b2e0b73 Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/unity/__pycache__/__init__.cpython-311.pyc differ diff --git a/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/UnityPlayer.so b/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/UnityPlayer.so new file mode 100644 index 00000000..a9a8ab79 Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/UnityPlayer.so differ diff --git a/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/app_logs/1706552826121664 b/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/app_logs/1706552826121664 new file mode 100644 index 00000000..e7ae0471 --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/app_logs/1706552826121664 @@ -0,0 +1,338 @@ +Mono path[0] = '/home/aleksi/Workspace/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_Data/Managed' +Mono config path = '/home/aleksi/Workspace/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_Data/MonoBleedingEdge/etc' +Preloaded 'lib_burst_generated.so' +Display 0 '0': 3840x2160 (primary device). +Desktop is 3840 x 2160 @ 60 Hz +Invalid initial resolution 1 x 1 - forcing to 100 x 100 +Initialize engine version: 2021.3.14f1 (eee1884e7226) +[Subsystems] Discovering subsystems at path /home/aleksi/Workspace/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_Data/UnitySubsystems +[Subsystems] No descriptors matched for examples in UnitySubsystems/OculusXRPlugin/UnitySubsystemsManifest.json. +[Subsystems] 1 'inputs' descriptors matched in UnitySubsystems/OculusXRPlugin/UnitySubsystemsManifest.json +[Subsystems] 1 'displays' descriptors matched in UnitySubsystems/OculusXRPlugin/UnitySubsystemsManifest.json +[Subsystems] No descriptors matched for meshings in UnitySubsystems/OculusXRPlugin/UnitySubsystemsManifest.json. +[Subsystems] No descriptors matched for examples in UnitySubsystems/UnityOpenXR/UnitySubsystemsManifest.json. +[Subsystems] 1 'inputs' descriptors matched in UnitySubsystems/UnityOpenXR/UnitySubsystemsManifest.json +[Subsystems] 1 'displays' descriptors matched in UnitySubsystems/UnityOpenXR/UnitySubsystemsManifest.json +[Subsystems] No descriptors matched for meshings in UnitySubsystems/UnityOpenXR/UnitySubsystemsManifest.json. +GfxDevice: creating device client; threaded=1; jobified=0 +Renderer: Mesa Intel(R) UHD Graphics 630 (CFL GT2) +Vendor: Intel +Version: 4.6 (Core Profile) Mesa 21.2.6 +GLES: 0 + GL_3DFX_texture_compression_FXT1 GL_AMD_conservative_depth GL_AMD_depth_clamp_separate GL_AMD_draw_buffers_blend GL_AMD_gpu_shader_int64 GL_AMD_multi_draw_indirect GL_AMD_performance_monitor GL_AMD_pinned_memory 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GL_ARB_robust_buffer_access_behavior GL_ARB_robustness GL_ARB_sample_shading GL_ARB_sampler_objects GL_ARB_seamless_cube_map GL_ARB_seamless_cubemap_per_texture GL_ARB_separate_shader_objects GL_ARB_shader_atomic_counter_ops GL_ARB_shader_atomic_counters GL_ARB_shader_ballot GL_ARB_shader_bit_encoding GL_ARB_shader_clock GL_ARB_shader_draw_parameters GL_ARB_shader_group_vote GL_ARB_shader_image_load_store GL_ARB_shader_image_size GL_ARB_shader_objects GL_ARB_shader_precision GL_ARB_shader_stencil_export GL_ARB_shader_storage_buffer_object GL_ARB_shader_subroutine GL_ARB_shader_texture_image_samples GL_ARB_shader_texture_lod GL_ARB_shader_viewport_layer_array GL_ARB_shading_language_420pack GL_ARB_shading_language_include GL_ARB_shading_language_packing GL_ARB_spirv_extensions GL_ARB_stencil_texturing GL_ARB_sync GL_ARB_tessellation_shader GL_ARB_texture_barrier G +L_ARB_texture_buffer_object GL_ARB_texture_buffer_object_rgb32 GL_ARB_texture_buffer_range GL_ARB_texture_compression_bptc GL_ARB_texture_compression_rgtc GL_ARB_texture_cube_map_array GL_ARB_texture_filter_anisotropic GL_ARB_texture_float GL_ARB_texture_gather GL_ARB_texture_mirror_clamp_to_edge GL_ARB_texture_multisample GL_ARB_texture_non_power_of_two GL_ARB_texture_query_levels GL_ARB_texture_query_lod GL_ARB_texture_rectangle GL_ARB_texture_rg GL_ARB_texture_rgb10_a2ui GL_ARB_texture_stencil8 GL_ARB_texture_storage GL_ARB_texture_storage_multisample GL_ARB_texture_swizzle GL_ARB_texture_view GL_ARB_timer_query GL_ARB_transform_feedback2 GL_ARB_transform_feedback3 GL_ARB_transform_feedback_instanced GL_ARB_transform_feedback_overflow_query GL_ARB_uniform_buffer_object GL_ARB_vertex_array_bgra GL_ARB_vertex_array_object GL_ARB_vertex_attrib_64bit GL_ARB_vertex_attrib_binding GL_ARB_vertex_buffer_object GL_ARB_vertex_shader GL_ARB_vertex_type_10f_11f_11f_rev GL_ARB_vertex_type_2_10_10_10_rev GL_ARB_viewpor +t_array GL_ATI_blend_equation_separate GL_ATI_texture_float GL_EXT_EGL_image_storage GL_EXT_EGL_sync GL_EXT_abgr GL_EXT_blend_equation_separate GL_EXT_demote_to_helper_invocation GL_EXT_draw_buffers2 GL_EXT_draw_instanced GL_EXT_framebuffer_blit GL_EXT_framebuffer_multisample GL_EXT_framebuffer_multisample_blit_scaled GL_EXT_framebuffer_object GL_EXT_framebuffer_sRGB GL_EXT_memory_object GL_EXT_memory_object_fd GL_EXT_packed_depth_stencil GL_EXT_packed_float GL_EXT_pixel_buffer_object GL_EXT_polygon_offset_clamp GL_EXT_provoking_vertex GL_EXT_semaphore GL_EXT_semaphore_fd GL_EXT_shader_framebuffer_fetch GL_EXT_shader_framebuffer_fetch_non_coherent GL_EXT_shader_integer_mix GL_EXT_shader_samples_identical GL_EXT_texture_array GL_EXT_texture_compression_dxt1 GL_EXT_texture_compression_rgtc GL_EXT_texture_compression_s3tc GL_EXT_texture_filter_anisotropic GL_EXT_texture_integer GL_EXT_texture_sRGB GL_EXT_texture_sRGB_R8 GL_EXT_texture_sRGB_decode GL_EXT_texture_shadow_lod GL_EXT_texture_shared_exponent GL_EXT_t +exture_snorm GL_EXT_texture_swizzle GL_EXT_timer_query GL_EXT_transform_feedback GL_EXT_vertex_array_bgra GL_EXT_vertex_attrib_64bit GL_IBM_multimode_draw_arrays GL_INTEL_blackhole_render GL_INTEL_conservative_rasterization GL_INTEL_performance_query GL_INTEL_shader_atomic_float_minmax GL_INTEL_shader_integer_functions2 GL_KHR_blend_equation_advanced GL_KHR_blend_equation_advanced_coherent GL_KHR_context_flush_control GL_KHR_debug GL_KHR_no_error GL_KHR_parallel_shader_compile GL_KHR_robust_buffer_access_behavior GL_KHR_robustness GL_KHR_texture_compression_astc_ldr GL_KHR_texture_compression_astc_sliced_3d GL_MESA_framebuffer_flip_y GL_MESA_pack_invert GL_MESA_shader_integer_functions GL_MESA_texture_signed_rgba GL_NV_compute_shader_derivatives GL_NV_conditional_render GL_NV_copy_image GL_NV_depth_clamp GL_NV_fragment_shader_interlock GL_NV_packed_depth_stencil GL_NV_texture_barrier GL_OES_EGL_image GL_S3_s3tc +OPENGL LOG: Creating OpenGL 4.6 graphics device ; Context level ; Context handle 10117328 +Begin MonoManager ReloadAssembly +- Completed reload, in 0.073 seconds +Default vsync count 0 +requesting resize 1 x 1 +resizing window to 1 x 1 +Desktop is 3840 x 2160 @ 60 Hz +Disable old input system +The referenced script on this Behaviour (Game Object 'StaticLightingSky') is missing! +The referenced script on this Behaviour (Game Object 'BackButton') is missing! +UnloadTime: 0.807822 ms +Grabbable component needs Rigidbody in order to work, adding one +Grabbable component needs Rigidbody in order to work, adding one +/home/aleksi/Workspace/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build.x86_64 +-simulated +-port +60075 +-logFile +/home/aleksi/Workspace/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/app_logs/1706552826121664 +-beats_vr_track +new_track +Logs will be saved to /home/aleksi/.config/unity3d/DefaultCompany/New Unity Project/logging/2024-01-29 +Starting up ZMQ server at tcp://localhost:60075 +Waiting for User-in-the-Box to confirm connection +Connection confirmed +requesting resize 1 x 1 +resizing window to 1 x 1 +Desktop is 3840 x 2160 @ 60 Hz +Event Camera must be set on World Space Canvas to perform ray casts with tracked device. UI events will not function correctly until it is set. +Event Camera must be set on World Space Canvas to perform ray casts with tracked device. UI events will not function correctly until it is set. +Server timed out, no message received +NullReferenceException: Object reference not set to an instance of an object + at UserInTheBox.SimulatedUser.UpdateAnchors (UserInTheBox.SimulatedUserState state) [0x0000b] in <9a84b511e8574ef5b59b5af8d7585c06>:0 + at UserInTheBox.SimulatedUser.Update () [0x00037] in <9a84b511e8574ef5b59b5af8d7585c06>:0 + +NullReferenceException: Object reference not set to an instance of an object + at UserInTheBox.SimulatedUser.LateUpdate () [0x0008f] in <9a84b511e8574ef5b59b5af8d7585c06>:0 + +Setting up 6 worker threads for Enlighten. +Curl error 42: Callback aborted +Memory Statistics: +[ALLOC_TEMP_TLS] TLS Allocator + StackAllocators : + [ALLOC_TEMP_MAIN] + Peak usage frame count: [4.0 KB-8.0 KB]: 1 frames, [8.0 KB-16.0 KB]: 1 frames, [16.0 KB-32.0 KB]: 122 frames, [32.0 KB-64.0 KB]: 278 frames, [4.0 MB-8.0 MB]: 1 frames + Initial Block Size 4.0 MB + Current Block Size 4.1 MB + Peak Allocated Bytes 4.0 MB + Overflow Count 0 + [ALLOC_TEMP_Loading.AsyncRead] + Initial Block Size 64.0 KB + Current Block Size 64.0 KB + Peak Allocated Bytes 224 B + Overflow Count 0 + [ALLOC_TEMP_Loading.PreloadManager] + Initial Block Size 256.0 KB + Current Block Size 480.0 KB + Peak Allocated Bytes 468.5 KB + Overflow Count 4 + [ALLOC_TEMP_Background Job.Worker 8] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 6] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 0] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 10] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 9] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 66 B + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 5] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 14] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 6] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 66 B + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 4] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 3] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 12] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_EnlightenWorker] x 6 + Initial Block Size 64.0 KB + Current Block Size 64.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 15] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 1] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 2] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 7] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_UnityGfxDeviceWorker] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 55.0 KB + Overflow Count 0 + [ALLOC_TEMP_AssetGarbageCollectorHelper] x 11 + Initial Block Size 64.0 KB + Current Block Size 64.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 5] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 9] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 13] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 8] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 7] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 1] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 2] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 3] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 66 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 11] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 10] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 0] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 124 B + Overflow Count 1 + [ALLOC_TEMP_CloudJob.Worker 0] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 5.6 KB + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 4] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_BatchDeleteObjects] + Initial Block Size 64.0 KB + Current Block Size 64.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 +[ALLOC_DEFAULT] Dual Thread Allocator + Peak main deferred allocation count 36 + [ALLOC_BUCKET] + Large Block size 4.0 MB + Used Block count 1 + Peak Allocated bytes 3.1 MB + [ALLOC_DEFAULT_MAIN] + Peak usage frame count: [8.0 MB-16.0 MB]: 402 frames, [16.0 MB-32.0 MB]: 1 frames + Requested Block Size 16.0 MB + Peak Block count 2 + Peak Allocated memory 16.5 MB + Peak Large allocation bytes 0 B + [ALLOC_DEFAULT_THREAD] + Peak usage frame count: [32.0 MB-64.0 MB]: 403 frames + Requested Block Size 16.0 MB + Peak Block count 1 + Peak Allocated memory 36.1 MB + Peak Large allocation bytes 29.3 MB +[ALLOC_TEMP_JOB_1_FRAME] + Initial Block Size 2.0 MB + Used Block Count 1 + Overflow Count (too large) 0 + Overflow Count (full) 0 +[ALLOC_TEMP_JOB_2_FRAMES] + Initial Block Size 2.0 MB + Used Block Count 1 + Overflow Count (too large) 0 + Overflow Count (full) 0 +[ALLOC_TEMP_JOB_4_FRAMES (JobTemp)] + Initial Block Size 2.0 MB + Used Block Count 2 + Overflow Count (too large) 0 + Overflow Count (full) 0 +[ALLOC_TEMP_JOB_ASYNC (Background)] + Initial Block Size 1.0 MB + Used Block Count 3 + Overflow Count (too large) 0 + Overflow Count (full) 0 +[ALLOC_GFX] Dual Thread Allocator + Peak main deferred allocation count 3 + [ALLOC_BUCKET] + Large Block size 4.0 MB + Used Block count 1 + Peak Allocated bytes 3.1 MB + [ALLOC_GFX_MAIN] + Peak usage frame count: [0.5 MB-1.0 MB]: 402 frames, [2.0 MB-4.0 MB]: 1 frames + Requested Block Size 16.0 MB + Peak Block count 1 + Peak Allocated memory 2.7 MB + Peak Large allocation bytes 0 B + [ALLOC_GFX_THREAD] + Peak usage frame count: [64.0 KB-128.0 KB]: 402 frames, [0.5 MB-1.0 MB]: 1 frames + Requested Block Size 16.0 MB + Peak Block count 1 + Peak Allocated memory 0.6 MB + Peak Large allocation bytes 0 B +[ALLOC_CACHEOBJECTS] Dual Thread Allocator + Peak main deferred allocation count 0 + [ALLOC_BUCKET] + Large Block size 4.0 MB + Used Block count 1 + Peak Allocated bytes 3.1 MB + [ALLOC_CACHEOBJECTS_MAIN] + Peak usage frame count: [64.0 MB-128.0 MB]: 403 frames + Requested Block Size 4.0 MB + Peak Block count 18 + Peak Allocated memory 121.2 MB + Peak Large allocation bytes 56.9 MB + [ALLOC_CACHEOBJECTS_THREAD] + Peak usage frame count: [4.0 MB-8.0 MB]: 402 frames, [8.0 MB-16.0 MB]: 1 frames + Requested Block Size 4.0 MB + Peak Block count 3 + Peak Allocated memory 9.2 MB + Peak Large allocation bytes 0 B +[ALLOC_TYPETREE] Dual Thread Allocator + Peak main deferred allocation count 0 + [ALLOC_BUCKET] + Large Block size 4.0 MB + Used Block count 1 + Peak Allocated bytes 3.1 MB + [ALLOC_TYPETREE_MAIN] + Peak usage frame count: [4.0 KB-8.0 KB]: 403 frames + Requested Block Size 2.0 MB + Peak Block count 1 + Peak Allocated memory 5.1 KB + Peak Large allocation bytes 0 B + [ALLOC_TYPETREE_THREAD] + Peak usage frame count: [8.0 KB-16.0 KB]: 403 frames + Requested Block Size 2.0 MB + Peak Block count 1 + Peak Allocated memory 11.1 KB + Peak Large allocation bytes 0 B diff --git a/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/app_logs/1706552940149375 b/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/app_logs/1706552940149375 new file mode 100644 index 00000000..8192f1c0 --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/app_logs/1706552940149375 @@ -0,0 +1,338 @@ +Mono path[0] = '/home/aleksi/Workspace/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_Data/Managed' +Mono config path = '/home/aleksi/Workspace/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_Data/MonoBleedingEdge/etc' +Preloaded 'lib_burst_generated.so' +Display 0 '0': 3840x2160 (primary device). +Desktop is 3840 x 2160 @ 60 Hz +Invalid initial resolution 1 x 1 - forcing to 100 x 100 +Initialize engine version: 2021.3.14f1 (eee1884e7226) +[Subsystems] Discovering subsystems at path /home/aleksi/Workspace/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_Data/UnitySubsystems +[Subsystems] No descriptors matched for examples in UnitySubsystems/OculusXRPlugin/UnitySubsystemsManifest.json. +[Subsystems] 1 'inputs' descriptors matched in UnitySubsystems/OculusXRPlugin/UnitySubsystemsManifest.json +[Subsystems] 1 'displays' descriptors matched in UnitySubsystems/OculusXRPlugin/UnitySubsystemsManifest.json +[Subsystems] No descriptors matched for meshings in UnitySubsystems/OculusXRPlugin/UnitySubsystemsManifest.json. +[Subsystems] No descriptors matched for examples in UnitySubsystems/UnityOpenXR/UnitySubsystemsManifest.json. +[Subsystems] 1 'inputs' descriptors matched in UnitySubsystems/UnityOpenXR/UnitySubsystemsManifest.json +[Subsystems] 1 'displays' descriptors matched in UnitySubsystems/UnityOpenXR/UnitySubsystemsManifest.json +[Subsystems] No descriptors matched for meshings in UnitySubsystems/UnityOpenXR/UnitySubsystemsManifest.json. +GfxDevice: creating device client; threaded=1; jobified=0 +Renderer: Mesa Intel(R) UHD Graphics 630 (CFL GT2) +Vendor: Intel +Version: 4.6 (Core Profile) Mesa 21.2.6 +GLES: 0 + GL_3DFX_texture_compression_FXT1 GL_AMD_conservative_depth GL_AMD_depth_clamp_separate GL_AMD_draw_buffers_blend GL_AMD_gpu_shader_int64 GL_AMD_multi_draw_indirect GL_AMD_performance_monitor GL_AMD_pinned_memory GL_AMD_query_buffer_object GL_AMD_seamless_cubemap_per_texture GL_AMD_shader_stencil_export GL_AMD_shader_trinary_minmax GL_AMD_texture_texture4 GL_AMD_vertex_shader_layer GL_AMD_vertex_shader_viewport_index GL_ANGLE_texture_compression_dxt3 GL_ANGLE_texture_compression_dxt5 GL_ARB_ES2_compatibility GL_ARB_ES3_1_compatibility GL_ARB_ES3_2_compatibility GL_ARB_ES3_compatibility GL_ARB_arrays_of_arrays GL_ARB_base_instance GL_ARB_blend_func_extended GL_ARB_buffer_storage GL_ARB_clear_buffer_object GL_ARB_clear_texture GL_ARB_clip_control GL_ARB_compressed_texture_pixel_storage GL_ARB_compute_shader GL_ARB_compute_variable_group_size GL_ARB_conditional_render_inverted GL_ARB_conservative_depth GL_ARB_copy_buffer GL_ARB_copy_image GL_ARB_cull_distance GL_ARB_debug_output GL_ARB_depth_buffer_float GL_ARB +_depth_clamp GL_ARB_derivative_control GL_ARB_direct_state_access GL_ARB_draw_buffers GL_ARB_draw_buffers_blend GL_ARB_draw_elements_base_vertex GL_ARB_draw_indirect GL_ARB_draw_instanced GL_ARB_enhanced_layouts GL_ARB_explicit_attrib_location GL_ARB_explicit_uniform_location GL_ARB_fragment_coord_conventions GL_ARB_fragment_layer_viewport GL_ARB_fragment_shader GL_ARB_fragment_shader_interlock GL_ARB_framebuffer_no_attachments GL_ARB_framebuffer_object GL_ARB_framebuffer_sRGB GL_ARB_get_program_binary GL_ARB_get_texture_sub_image GL_ARB_gl_spirv GL_ARB_gpu_shader5 GL_ARB_gpu_shader_fp64 GL_ARB_gpu_shader_int64 GL_ARB_half_float_pixel GL_ARB_half_float_vertex GL_ARB_indirect_parameters GL_ARB_instanced_arrays GL_ARB_internalformat_query GL_ARB_internalformat_query2 GL_ARB_invalidate_subdata GL_ARB_map_buffer_alignment GL_ARB_map_buffer_range GL_ARB_multi_bind GL_ARB_multi_draw_indirect GL_ARB_occlusion_query2 GL_ARB_parallel_shader_compile GL_ARB_pipeline_statistics_query GL_ARB_pixel_buffer_object GL_ARB_po +int_sprite GL_ARB_polygon_offset_clamp GL_ARB_post_depth_coverage GL_ARB_program_interface_query GL_ARB_provoking_vertex GL_ARB_query_buffer_object GL_ARB_robust_buffer_access_behavior GL_ARB_robustness GL_ARB_sample_shading GL_ARB_sampler_objects GL_ARB_seamless_cube_map GL_ARB_seamless_cubemap_per_texture GL_ARB_separate_shader_objects GL_ARB_shader_atomic_counter_ops GL_ARB_shader_atomic_counters GL_ARB_shader_ballot GL_ARB_shader_bit_encoding GL_ARB_shader_clock GL_ARB_shader_draw_parameters GL_ARB_shader_group_vote GL_ARB_shader_image_load_store GL_ARB_shader_image_size GL_ARB_shader_objects GL_ARB_shader_precision GL_ARB_shader_stencil_export GL_ARB_shader_storage_buffer_object GL_ARB_shader_subroutine GL_ARB_shader_texture_image_samples GL_ARB_shader_texture_lod GL_ARB_shader_viewport_layer_array GL_ARB_shading_language_420pack GL_ARB_shading_language_include GL_ARB_shading_language_packing GL_ARB_spirv_extensions GL_ARB_stencil_texturing GL_ARB_sync GL_ARB_tessellation_shader GL_ARB_texture_barrier G +L_ARB_texture_buffer_object GL_ARB_texture_buffer_object_rgb32 GL_ARB_texture_buffer_range GL_ARB_texture_compression_bptc GL_ARB_texture_compression_rgtc GL_ARB_texture_cube_map_array GL_ARB_texture_filter_anisotropic GL_ARB_texture_float GL_ARB_texture_gather GL_ARB_texture_mirror_clamp_to_edge GL_ARB_texture_multisample GL_ARB_texture_non_power_of_two GL_ARB_texture_query_levels GL_ARB_texture_query_lod GL_ARB_texture_rectangle GL_ARB_texture_rg GL_ARB_texture_rgb10_a2ui GL_ARB_texture_stencil8 GL_ARB_texture_storage GL_ARB_texture_storage_multisample GL_ARB_texture_swizzle GL_ARB_texture_view GL_ARB_timer_query GL_ARB_transform_feedback2 GL_ARB_transform_feedback3 GL_ARB_transform_feedback_instanced GL_ARB_transform_feedback_overflow_query GL_ARB_uniform_buffer_object GL_ARB_vertex_array_bgra GL_ARB_vertex_array_object GL_ARB_vertex_attrib_64bit GL_ARB_vertex_attrib_binding GL_ARB_vertex_buffer_object GL_ARB_vertex_shader GL_ARB_vertex_type_10f_11f_11f_rev GL_ARB_vertex_type_2_10_10_10_rev GL_ARB_viewpor +t_array GL_ATI_blend_equation_separate GL_ATI_texture_float GL_EXT_EGL_image_storage GL_EXT_EGL_sync GL_EXT_abgr GL_EXT_blend_equation_separate GL_EXT_demote_to_helper_invocation GL_EXT_draw_buffers2 GL_EXT_draw_instanced GL_EXT_framebuffer_blit GL_EXT_framebuffer_multisample GL_EXT_framebuffer_multisample_blit_scaled GL_EXT_framebuffer_object GL_EXT_framebuffer_sRGB GL_EXT_memory_object GL_EXT_memory_object_fd GL_EXT_packed_depth_stencil GL_EXT_packed_float GL_EXT_pixel_buffer_object GL_EXT_polygon_offset_clamp GL_EXT_provoking_vertex GL_EXT_semaphore GL_EXT_semaphore_fd GL_EXT_shader_framebuffer_fetch GL_EXT_shader_framebuffer_fetch_non_coherent GL_EXT_shader_integer_mix GL_EXT_shader_samples_identical GL_EXT_texture_array GL_EXT_texture_compression_dxt1 GL_EXT_texture_compression_rgtc GL_EXT_texture_compression_s3tc GL_EXT_texture_filter_anisotropic GL_EXT_texture_integer GL_EXT_texture_sRGB GL_EXT_texture_sRGB_R8 GL_EXT_texture_sRGB_decode GL_EXT_texture_shadow_lod GL_EXT_texture_shared_exponent GL_EXT_t +exture_snorm GL_EXT_texture_swizzle GL_EXT_timer_query GL_EXT_transform_feedback GL_EXT_vertex_array_bgra GL_EXT_vertex_attrib_64bit GL_IBM_multimode_draw_arrays GL_INTEL_blackhole_render GL_INTEL_conservative_rasterization GL_INTEL_performance_query GL_INTEL_shader_atomic_float_minmax GL_INTEL_shader_integer_functions2 GL_KHR_blend_equation_advanced GL_KHR_blend_equation_advanced_coherent GL_KHR_context_flush_control GL_KHR_debug GL_KHR_no_error GL_KHR_parallel_shader_compile GL_KHR_robust_buffer_access_behavior GL_KHR_robustness GL_KHR_texture_compression_astc_ldr GL_KHR_texture_compression_astc_sliced_3d GL_MESA_framebuffer_flip_y GL_MESA_pack_invert GL_MESA_shader_integer_functions GL_MESA_texture_signed_rgba GL_NV_compute_shader_derivatives GL_NV_conditional_render GL_NV_copy_image GL_NV_depth_clamp GL_NV_fragment_shader_interlock GL_NV_packed_depth_stencil GL_NV_texture_barrier GL_OES_EGL_image GL_S3_s3tc +OPENGL LOG: Creating OpenGL 4.6 graphics device ; Context level ; Context handle 21811168 +Begin MonoManager ReloadAssembly +- Completed reload, in 0.074 seconds +Default vsync count 0 +requesting resize 1 x 1 +resizing window to 1 x 1 +Desktop is 3840 x 2160 @ 60 Hz +Disable old input system +The referenced script on this Behaviour (Game Object 'StaticLightingSky') is missing! +The referenced script on this Behaviour (Game Object 'BackButton') is missing! +UnloadTime: 0.654023 ms +Grabbable component needs Rigidbody in order to work, adding one +Grabbable component needs Rigidbody in order to work, adding one +/home/aleksi/Workspace/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build.x86_64 +-simulated +-port +42571 +-logFile +/home/aleksi/Workspace/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/app_logs/1706552940149375 +-beats_vr_track +new_track +Logs will be saved to /home/aleksi/.config/unity3d/DefaultCompany/New Unity Project/logging/2024-01-29 +Starting up ZMQ server at tcp://localhost:42571 +Waiting for User-in-the-Box to confirm connection +Connection confirmed +requesting resize 1 x 1 +resizing window to 1 x 1 +Desktop is 3840 x 2160 @ 60 Hz +Event Camera must be set on World Space Canvas to perform ray casts with tracked device. UI events will not function correctly until it is set. +Event Camera must be set on World Space Canvas to perform ray casts with tracked device. UI events will not function correctly until it is set. +Server timed out, no message received +NullReferenceException: Object reference not set to an instance of an object + at UserInTheBox.SimulatedUser.UpdateAnchors (UserInTheBox.SimulatedUserState state) [0x0000b] in <9a84b511e8574ef5b59b5af8d7585c06>:0 + at UserInTheBox.SimulatedUser.Update () [0x00037] in <9a84b511e8574ef5b59b5af8d7585c06>:0 + +NullReferenceException: Object reference not set to an instance of an object + at UserInTheBox.SimulatedUser.LateUpdate () [0x0008f] in <9a84b511e8574ef5b59b5af8d7585c06>:0 + +Setting up 6 worker threads for Enlighten. +Curl error 42: Callback aborted +Memory Statistics: +[ALLOC_TEMP_TLS] TLS Allocator + StackAllocators : + [ALLOC_TEMP_MAIN] + Peak usage frame count: [1.0 KB-2.0 KB]: 1 frames, [4.0 KB-8.0 KB]: 1 frames, [16.0 KB-32.0 KB]: 114 frames, [32.0 KB-64.0 KB]: 286 frames, [4.0 MB-8.0 MB]: 1 frames + Initial Block Size 4.0 MB + Current Block Size 4.1 MB + Peak Allocated Bytes 4.0 MB + Overflow Count 0 + [ALLOC_TEMP_Loading.AsyncRead] + Initial Block Size 64.0 KB + Current Block Size 64.0 KB + Peak Allocated Bytes 200 B + Overflow Count 0 + [ALLOC_TEMP_Loading.PreloadManager] + Initial Block Size 256.0 KB + Current Block Size 480.0 KB + Peak Allocated Bytes 468.5 KB + Overflow Count 4 + [ALLOC_TEMP_Background Job.Worker 8] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 6] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 0] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 10] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 9] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 66 B + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 5] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 14] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 6] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 66 B + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 4] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 3] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 12] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_EnlightenWorker] x 6 + Initial Block Size 64.0 KB + Current Block Size 64.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 15] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 1] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 2] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 7] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_UnityGfxDeviceWorker] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 55.0 KB + Overflow Count 0 + [ALLOC_TEMP_AssetGarbageCollectorHelper] x 11 + Initial Block Size 64.0 KB + Current Block Size 64.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 5] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 9] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 13] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 8] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 7] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 1] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 2] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 3] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 66 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 11] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 10] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 0] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 124 B + Overflow Count 1 + [ALLOC_TEMP_CloudJob.Worker 0] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 6.2 KB + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 4] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_BatchDeleteObjects] + Initial Block Size 64.0 KB + Current Block Size 64.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 +[ALLOC_DEFAULT] Dual Thread Allocator + Peak main deferred allocation count 56 + [ALLOC_BUCKET] + Large Block size 4.0 MB + Used Block count 1 + Peak Allocated bytes 3.1 MB + [ALLOC_DEFAULT_MAIN] + Peak usage frame count: [8.0 MB-16.0 MB]: 402 frames, [16.0 MB-32.0 MB]: 1 frames + Requested Block Size 16.0 MB + Peak Block count 2 + Peak Allocated memory 16.6 MB + Peak Large allocation bytes 0 B + [ALLOC_DEFAULT_THREAD] + Peak usage frame count: [32.0 MB-64.0 MB]: 403 frames + Requested Block Size 16.0 MB + Peak Block count 1 + Peak Allocated memory 36.1 MB + Peak Large allocation bytes 29.3 MB +[ALLOC_TEMP_JOB_1_FRAME] + Initial Block Size 2.0 MB + Used Block Count 1 + Overflow Count (too large) 0 + Overflow Count (full) 0 +[ALLOC_TEMP_JOB_2_FRAMES] + Initial Block Size 2.0 MB + Used Block Count 1 + Overflow Count (too large) 0 + Overflow Count (full) 0 +[ALLOC_TEMP_JOB_4_FRAMES (JobTemp)] + Initial Block Size 2.0 MB + Used Block Count 2 + Overflow Count (too large) 0 + Overflow Count (full) 0 +[ALLOC_TEMP_JOB_ASYNC (Background)] + Initial Block Size 1.0 MB + Used Block Count 3 + Overflow Count (too large) 0 + Overflow Count (full) 0 +[ALLOC_GFX] Dual Thread Allocator + Peak main deferred allocation count 1 + [ALLOC_BUCKET] + Large Block size 4.0 MB + Used Block count 1 + Peak Allocated bytes 3.1 MB + [ALLOC_GFX_MAIN] + Peak usage frame count: [0.5 MB-1.0 MB]: 402 frames, [2.0 MB-4.0 MB]: 1 frames + Requested Block Size 16.0 MB + Peak Block count 1 + Peak Allocated memory 2.7 MB + Peak Large allocation bytes 0 B + [ALLOC_GFX_THREAD] + Peak usage frame count: [64.0 KB-128.0 KB]: 402 frames, [0.5 MB-1.0 MB]: 1 frames + Requested Block Size 16.0 MB + Peak Block count 1 + Peak Allocated memory 0.6 MB + Peak Large allocation bytes 0 B +[ALLOC_CACHEOBJECTS] Dual Thread Allocator + Peak main deferred allocation count 0 + [ALLOC_BUCKET] + Large Block size 4.0 MB + Used Block count 1 + Peak Allocated bytes 3.1 MB + [ALLOC_CACHEOBJECTS_MAIN] + Peak usage frame count: [64.0 MB-128.0 MB]: 403 frames + Requested Block Size 4.0 MB + Peak Block count 18 + Peak Allocated memory 121.2 MB + Peak Large allocation bytes 56.9 MB + [ALLOC_CACHEOBJECTS_THREAD] + Peak usage frame count: [4.0 MB-8.0 MB]: 402 frames, [8.0 MB-16.0 MB]: 1 frames + Requested Block Size 4.0 MB + Peak Block count 3 + Peak Allocated memory 9.2 MB + Peak Large allocation bytes 0 B +[ALLOC_TYPETREE] Dual Thread Allocator + Peak main deferred allocation count 0 + [ALLOC_BUCKET] + Large Block size 4.0 MB + Used Block count 1 + Peak Allocated bytes 3.1 MB + [ALLOC_TYPETREE_MAIN] + Peak usage frame count: [4.0 KB-8.0 KB]: 403 frames + Requested Block Size 2.0 MB + Peak Block count 1 + Peak Allocated memory 5.1 KB + Peak Large allocation bytes 0 B + [ALLOC_TYPETREE_THREAD] + Peak usage frame count: [8.0 KB-16.0 KB]: 403 frames + Requested Block Size 2.0 MB + Peak Block count 1 + Peak Allocated memory 11.1 KB + Peak Large allocation bytes 0 B diff --git a/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/app_logs/1706553433326728 b/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/app_logs/1706553433326728 new file mode 100644 index 00000000..7d9d21df --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/app_logs/1706553433326728 @@ -0,0 +1,346 @@ +Mono path[0] = '/home/aleksi/Workspace/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_Data/Managed' +Mono config path = '/home/aleksi/Workspace/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_Data/MonoBleedingEdge/etc' +Preloaded 'lib_burst_generated.so' +Display 0 '0': 3840x2160 (primary device). +Desktop is 3840 x 2160 @ 60 Hz +Invalid initial resolution 1 x 1 - forcing to 100 x 100 +Initialize engine version: 2021.3.14f1 (eee1884e7226) +[Subsystems] Discovering subsystems at path /home/aleksi/Workspace/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_Data/UnitySubsystems +[Subsystems] No descriptors matched for examples in UnitySubsystems/OculusXRPlugin/UnitySubsystemsManifest.json. +[Subsystems] 1 'inputs' descriptors matched in UnitySubsystems/OculusXRPlugin/UnitySubsystemsManifest.json +[Subsystems] 1 'displays' descriptors matched in UnitySubsystems/OculusXRPlugin/UnitySubsystemsManifest.json +[Subsystems] No descriptors matched for meshings in UnitySubsystems/OculusXRPlugin/UnitySubsystemsManifest.json. +[Subsystems] No descriptors matched for examples in UnitySubsystems/UnityOpenXR/UnitySubsystemsManifest.json. +[Subsystems] 1 'inputs' descriptors matched in UnitySubsystems/UnityOpenXR/UnitySubsystemsManifest.json +[Subsystems] 1 'displays' descriptors matched in UnitySubsystems/UnityOpenXR/UnitySubsystemsManifest.json +[Subsystems] No descriptors matched for meshings in UnitySubsystems/UnityOpenXR/UnitySubsystemsManifest.json. +GfxDevice: creating device client; threaded=1; jobified=0 +Renderer: Mesa Intel(R) UHD Graphics 630 (CFL GT2) +Vendor: Intel +Version: 4.6 (Core Profile) Mesa 21.2.6 +GLES: 0 + GL_3DFX_texture_compression_FXT1 GL_AMD_conservative_depth GL_AMD_depth_clamp_separate GL_AMD_draw_buffers_blend GL_AMD_gpu_shader_int64 GL_AMD_multi_draw_indirect GL_AMD_performance_monitor GL_AMD_pinned_memory GL_AMD_query_buffer_object GL_AMD_seamless_cubemap_per_texture GL_AMD_shader_stencil_export GL_AMD_shader_trinary_minmax GL_AMD_texture_texture4 GL_AMD_vertex_shader_layer GL_AMD_vertex_shader_viewport_index GL_ANGLE_texture_compression_dxt3 GL_ANGLE_texture_compression_dxt5 GL_ARB_ES2_compatibility GL_ARB_ES3_1_compatibility GL_ARB_ES3_2_compatibility GL_ARB_ES3_compatibility GL_ARB_arrays_of_arrays GL_ARB_base_instance GL_ARB_blend_func_extended GL_ARB_buffer_storage GL_ARB_clear_buffer_object GL_ARB_clear_texture GL_ARB_clip_control GL_ARB_compressed_texture_pixel_storage GL_ARB_compute_shader GL_ARB_compute_variable_group_size GL_ARB_conditional_render_inverted GL_ARB_conservative_depth GL_ARB_copy_buffer GL_ARB_copy_image GL_ARB_cull_distance GL_ARB_debug_output GL_ARB_depth_buffer_float GL_ARB +_depth_clamp GL_ARB_derivative_control GL_ARB_direct_state_access GL_ARB_draw_buffers GL_ARB_draw_buffers_blend GL_ARB_draw_elements_base_vertex GL_ARB_draw_indirect GL_ARB_draw_instanced GL_ARB_enhanced_layouts GL_ARB_explicit_attrib_location GL_ARB_explicit_uniform_location GL_ARB_fragment_coord_conventions GL_ARB_fragment_layer_viewport GL_ARB_fragment_shader GL_ARB_fragment_shader_interlock GL_ARB_framebuffer_no_attachments GL_ARB_framebuffer_object GL_ARB_framebuffer_sRGB GL_ARB_get_program_binary GL_ARB_get_texture_sub_image GL_ARB_gl_spirv GL_ARB_gpu_shader5 GL_ARB_gpu_shader_fp64 GL_ARB_gpu_shader_int64 GL_ARB_half_float_pixel GL_ARB_half_float_vertex GL_ARB_indirect_parameters GL_ARB_instanced_arrays GL_ARB_internalformat_query GL_ARB_internalformat_query2 GL_ARB_invalidate_subdata GL_ARB_map_buffer_alignment GL_ARB_map_buffer_range GL_ARB_multi_bind GL_ARB_multi_draw_indirect GL_ARB_occlusion_query2 GL_ARB_parallel_shader_compile GL_ARB_pipeline_statistics_query GL_ARB_pixel_buffer_object GL_ARB_po +int_sprite GL_ARB_polygon_offset_clamp GL_ARB_post_depth_coverage GL_ARB_program_interface_query GL_ARB_provoking_vertex GL_ARB_query_buffer_object GL_ARB_robust_buffer_access_behavior GL_ARB_robustness GL_ARB_sample_shading GL_ARB_sampler_objects GL_ARB_seamless_cube_map GL_ARB_seamless_cubemap_per_texture GL_ARB_separate_shader_objects GL_ARB_shader_atomic_counter_ops GL_ARB_shader_atomic_counters GL_ARB_shader_ballot GL_ARB_shader_bit_encoding GL_ARB_shader_clock GL_ARB_shader_draw_parameters GL_ARB_shader_group_vote GL_ARB_shader_image_load_store GL_ARB_shader_image_size GL_ARB_shader_objects GL_ARB_shader_precision GL_ARB_shader_stencil_export GL_ARB_shader_storage_buffer_object GL_ARB_shader_subroutine GL_ARB_shader_texture_image_samples GL_ARB_shader_texture_lod GL_ARB_shader_viewport_layer_array GL_ARB_shading_language_420pack GL_ARB_shading_language_include GL_ARB_shading_language_packing GL_ARB_spirv_extensions GL_ARB_stencil_texturing GL_ARB_sync GL_ARB_tessellation_shader GL_ARB_texture_barrier G +L_ARB_texture_buffer_object GL_ARB_texture_buffer_object_rgb32 GL_ARB_texture_buffer_range GL_ARB_texture_compression_bptc GL_ARB_texture_compression_rgtc GL_ARB_texture_cube_map_array GL_ARB_texture_filter_anisotropic GL_ARB_texture_float GL_ARB_texture_gather GL_ARB_texture_mirror_clamp_to_edge GL_ARB_texture_multisample GL_ARB_texture_non_power_of_two GL_ARB_texture_query_levels GL_ARB_texture_query_lod GL_ARB_texture_rectangle GL_ARB_texture_rg GL_ARB_texture_rgb10_a2ui GL_ARB_texture_stencil8 GL_ARB_texture_storage GL_ARB_texture_storage_multisample GL_ARB_texture_swizzle GL_ARB_texture_view GL_ARB_timer_query GL_ARB_transform_feedback2 GL_ARB_transform_feedback3 GL_ARB_transform_feedback_instanced GL_ARB_transform_feedback_overflow_query GL_ARB_uniform_buffer_object GL_ARB_vertex_array_bgra GL_ARB_vertex_array_object GL_ARB_vertex_attrib_64bit GL_ARB_vertex_attrib_binding GL_ARB_vertex_buffer_object GL_ARB_vertex_shader GL_ARB_vertex_type_10f_11f_11f_rev GL_ARB_vertex_type_2_10_10_10_rev GL_ARB_viewpor +t_array GL_ATI_blend_equation_separate GL_ATI_texture_float GL_EXT_EGL_image_storage GL_EXT_EGL_sync GL_EXT_abgr GL_EXT_blend_equation_separate GL_EXT_demote_to_helper_invocation GL_EXT_draw_buffers2 GL_EXT_draw_instanced GL_EXT_framebuffer_blit GL_EXT_framebuffer_multisample GL_EXT_framebuffer_multisample_blit_scaled GL_EXT_framebuffer_object GL_EXT_framebuffer_sRGB GL_EXT_memory_object GL_EXT_memory_object_fd GL_EXT_packed_depth_stencil GL_EXT_packed_float GL_EXT_pixel_buffer_object GL_EXT_polygon_offset_clamp GL_EXT_provoking_vertex GL_EXT_semaphore GL_EXT_semaphore_fd GL_EXT_shader_framebuffer_fetch GL_EXT_shader_framebuffer_fetch_non_coherent GL_EXT_shader_integer_mix GL_EXT_shader_samples_identical GL_EXT_texture_array GL_EXT_texture_compression_dxt1 GL_EXT_texture_compression_rgtc GL_EXT_texture_compression_s3tc GL_EXT_texture_filter_anisotropic GL_EXT_texture_integer GL_EXT_texture_sRGB GL_EXT_texture_sRGB_R8 GL_EXT_texture_sRGB_decode GL_EXT_texture_shadow_lod GL_EXT_texture_shared_exponent GL_EXT_t +exture_snorm GL_EXT_texture_swizzle GL_EXT_timer_query GL_EXT_transform_feedback GL_EXT_vertex_array_bgra GL_EXT_vertex_attrib_64bit GL_IBM_multimode_draw_arrays GL_INTEL_blackhole_render GL_INTEL_conservative_rasterization GL_INTEL_performance_query GL_INTEL_shader_atomic_float_minmax GL_INTEL_shader_integer_functions2 GL_KHR_blend_equation_advanced GL_KHR_blend_equation_advanced_coherent GL_KHR_context_flush_control GL_KHR_debug GL_KHR_no_error GL_KHR_parallel_shader_compile GL_KHR_robust_buffer_access_behavior GL_KHR_robustness GL_KHR_texture_compression_astc_ldr GL_KHR_texture_compression_astc_sliced_3d GL_MESA_framebuffer_flip_y GL_MESA_pack_invert GL_MESA_shader_integer_functions GL_MESA_texture_signed_rgba GL_NV_compute_shader_derivatives GL_NV_conditional_render GL_NV_copy_image GL_NV_depth_clamp GL_NV_fragment_shader_interlock GL_NV_packed_depth_stencil GL_NV_texture_barrier GL_OES_EGL_image GL_S3_s3tc +OPENGL LOG: Creating OpenGL 4.6 graphics device ; Context level ; Context handle 24221856 +Begin MonoManager ReloadAssembly +- Completed reload, in 0.077 seconds +Default vsync count 0 +requesting resize 1 x 1 +resizing window to 1 x 1 +Desktop is 3840 x 2160 @ 60 Hz +Disable old input system +The referenced script on this Behaviour (Game Object 'StaticLightingSky') is missing! +The referenced script on this Behaviour (Game Object 'BackButton') is missing! +UnloadTime: 0.714594 ms +Grabbable component needs Rigidbody in order to work, adding one +Grabbable component needs Rigidbody in order to work, adding one +/home/aleksi/Workspace/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build.x86_64 +-simulated +-port +47533 +-logFile +/home/aleksi/Workspace/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/app_logs/1706553433326728 +-beats_vr_track +default +Logs will be saved to /home/aleksi/.config/unity3d/DefaultCompany/New Unity Project/logging/2024-01-29 +Starting up ZMQ server at tcp://localhost:47533 +Waiting for User-in-the-Box to confirm connection +Connection confirmed +requesting resize 1 x 1 +resizing window to 1 x 1 +Desktop is 3840 x 2160 @ 60 Hz +Event Camera must be set on World Space Canvas to perform ray casts with tracked device. UI events will not function correctly until it is set. +Event Camera must be set on World Space Canvas to perform ray casts with tracked device. UI events will not function correctly until it is set. +Executing Unity Signal Handler + +Server timed out, no message received +NullReferenceException: Object reference not set to an instance of an object + at UserInTheBox.SimulatedUser.UpdateAnchors (UserInTheBox.SimulatedUserState state) [0x0000b] in <9a84b511e8574ef5b59b5af8d7585c06>:0 + at UserInTheBox.SimulatedUser.Update () [0x00037] in <9a84b511e8574ef5b59b5af8d7585c06>:0 + +FiniteStateMachineException: Rep.XSend - cannot send another reply + at NetMQ.Core.Patterns.Rep.XSend (NetMQ.Msg& msg) [0x00012] in :0 + at NetMQ.Core.SocketBase.TrySend (NetMQ.Msg& msg, System.TimeSpan timeout, System.Boolean more) [0x00041] in :0 + at NetMQ.NetMQSocket.TrySend (NetMQ.Msg& msg, System.TimeSpan timeout, System.Boolean more) [0x00000] in :0 + at NetMQ.OutgoingSocketExtensions.Send (NetMQ.IOutgoingSocket socket, NetMQ.Msg& msg, System.Boolean more) [0x00000] in :0 + at NetMQ.OutgoingSocketExtensions.SendFrame (NetMQ.IOutgoingSocket socket, System.String message, System.Boolean more) [0x0002b] in :0 + at UserInTheBox.ZmqServer.SendObservation (System.Boolean isFinished, System.Single reward, System.Byte[] image, System.Single timeFeature) [0x00042] in <9a84b511e8574ef5b59b5af8d7585c06>:0 + at UserInTheBox.SimulatedUser.LateUpdate () [0x000a4] in <9a84b511e8574ef5b59b5af8d7585c06>:0 + +Setting up 6 worker threads for Enlighten. +Curl error 42: Callback aborted +Memory Statistics: +[ALLOC_TEMP_TLS] TLS Allocator + StackAllocators : + [ALLOC_TEMP_MAIN] + Peak usage frame count: [1.0 KB-2.0 KB]: 1 frames, [16.0 KB-32.0 KB]: 26 frames, [32.0 KB-64.0 KB]: 49 frames, [4.0 MB-8.0 MB]: 1 frames + Initial Block Size 4.0 MB + Current Block Size 4.1 MB + Peak Allocated Bytes 4.0 MB + Overflow Count 0 + [ALLOC_TEMP_Loading.AsyncRead] + Initial Block Size 64.0 KB + Current Block Size 64.0 KB + Peak Allocated Bytes 200 B + Overflow Count 0 + [ALLOC_TEMP_Loading.PreloadManager] + Initial Block Size 256.0 KB + Current Block Size 480.0 KB + Peak Allocated Bytes 468.5 KB + Overflow Count 4 + [ALLOC_TEMP_Background Job.Worker 8] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 6] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 0] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 10] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 9] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 66 B + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 5] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 14] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 6] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 66 B + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 4] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 3] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 12] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_EnlightenWorker] x 6 + Initial Block Size 64.0 KB + Current Block Size 64.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 15] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 1] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 2] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 7] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_UnityGfxDeviceWorker] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 55.0 KB + Overflow Count 0 + [ALLOC_TEMP_AssetGarbageCollectorHelper] x 11 + Initial Block Size 64.0 KB + Current Block Size 64.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 5] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 9] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 13] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 8] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 7] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 9.5 KB + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 1] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 2] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 3] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 66 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 11] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 10] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 0] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 124 B + Overflow Count 1 + [ALLOC_TEMP_CloudJob.Worker 0] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 6.2 KB + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 4] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_BatchDeleteObjects] + Initial Block Size 64.0 KB + Current Block Size 64.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 +[ALLOC_DEFAULT] Dual Thread Allocator + Peak main deferred allocation count 73 + [ALLOC_BUCKET] + Large Block size 4.0 MB + Used Block count 1 + Peak Allocated bytes 3.2 MB + [ALLOC_DEFAULT_MAIN] + Peak usage frame count: [8.0 MB-16.0 MB]: 76 frames, [16.0 MB-32.0 MB]: 1 frames + Requested Block Size 16.0 MB + Peak Block count 2 + Peak Allocated memory 16.5 MB + Peak Large allocation bytes 0 B + [ALLOC_DEFAULT_THREAD] + Peak usage frame count: [32.0 MB-64.0 MB]: 77 frames + Requested Block Size 16.0 MB + Peak Block count 1 + Peak Allocated memory 36.1 MB + Peak Large allocation bytes 29.3 MB +[ALLOC_TEMP_JOB_1_FRAME] + Initial Block Size 2.0 MB + Used Block Count 1 + Overflow Count (too large) 0 + Overflow Count (full) 0 +[ALLOC_TEMP_JOB_2_FRAMES] + Initial Block Size 2.0 MB + Used Block Count 1 + Overflow Count (too large) 0 + Overflow Count (full) 0 +[ALLOC_TEMP_JOB_4_FRAMES (JobTemp)] + Initial Block Size 2.0 MB + Used Block Count 2 + Overflow Count (too large) 0 + Overflow Count (full) 0 +[ALLOC_TEMP_JOB_ASYNC (Background)] + Initial Block Size 1.0 MB + Used Block Count 3 + Overflow Count (too large) 0 + Overflow Count (full) 0 +[ALLOC_GFX] Dual Thread Allocator + Peak main deferred allocation count 2 + [ALLOC_BUCKET] + Large Block size 4.0 MB + Used Block count 1 + Peak Allocated bytes 3.2 MB + [ALLOC_GFX_MAIN] + Peak usage frame count: [0.5 MB-1.0 MB]: 76 frames, [2.0 MB-4.0 MB]: 1 frames + Requested Block Size 16.0 MB + Peak Block count 1 + Peak Allocated memory 2.7 MB + Peak Large allocation bytes 0 B + [ALLOC_GFX_THREAD] + Peak usage frame count: [64.0 KB-128.0 KB]: 76 frames, [0.5 MB-1.0 MB]: 1 frames + Requested Block Size 16.0 MB + Peak Block count 1 + Peak Allocated memory 0.6 MB + Peak Large allocation bytes 0 B +[ALLOC_CACHEOBJECTS] Dual Thread Allocator + Peak main deferred allocation count 0 + [ALLOC_BUCKET] + Large Block size 4.0 MB + Used Block count 1 + Peak Allocated bytes 3.2 MB + [ALLOC_CACHEOBJECTS_MAIN] + Peak usage frame count: [64.0 MB-128.0 MB]: 77 frames + Requested Block Size 4.0 MB + Peak Block count 18 + Peak Allocated memory 121.2 MB + Peak Large allocation bytes 56.9 MB + [ALLOC_CACHEOBJECTS_THREAD] + Peak usage frame count: [4.0 MB-8.0 MB]: 76 frames, [8.0 MB-16.0 MB]: 1 frames + Requested Block Size 4.0 MB + Peak Block count 3 + Peak Allocated memory 9.2 MB + Peak Large allocation bytes 0 B +[ALLOC_TYPETREE] Dual Thread Allocator + Peak main deferred allocation count 0 + [ALLOC_BUCKET] + Large Block size 4.0 MB + Used Block count 1 + Peak Allocated bytes 3.2 MB + [ALLOC_TYPETREE_MAIN] + Peak usage frame count: [4.0 KB-8.0 KB]: 77 frames + Requested Block Size 2.0 MB + Peak Block count 1 + Peak Allocated memory 5.1 KB + Peak Large allocation bytes 0 B + [ALLOC_TYPETREE_THREAD] + Peak usage frame count: [8.0 KB-16.0 KB]: 77 frames + Requested Block Size 2.0 MB + Peak Block count 1 + Peak Allocated memory 11.1 KB + Peak Large allocation bytes 0 B diff --git a/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/app_logs/1706554295360775 b/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/app_logs/1706554295360775 new file mode 100644 index 00000000..421abc74 --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/app_logs/1706554295360775 @@ -0,0 +1,347 @@ +Mono path[0] = '/home/aleksi/Workspace/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_Data/Managed' +Mono config path = '/home/aleksi/Workspace/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_Data/MonoBleedingEdge/etc' +Preloaded 'lib_burst_generated.so' +Display 0 '0': 3840x2160 (primary device). +Desktop is 3840 x 2160 @ 60 Hz +Invalid initial resolution 1 x 1 - forcing to 100 x 100 +Initialize engine version: 2021.3.14f1 (eee1884e7226) +[Subsystems] Discovering subsystems at path /home/aleksi/Workspace/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_Data/UnitySubsystems +[Subsystems] No descriptors matched for examples in UnitySubsystems/OculusXRPlugin/UnitySubsystemsManifest.json. +[Subsystems] 1 'inputs' descriptors matched in UnitySubsystems/OculusXRPlugin/UnitySubsystemsManifest.json +[Subsystems] 1 'displays' descriptors matched in UnitySubsystems/OculusXRPlugin/UnitySubsystemsManifest.json +[Subsystems] No descriptors matched for meshings in UnitySubsystems/OculusXRPlugin/UnitySubsystemsManifest.json. +[Subsystems] No descriptors matched for examples in UnitySubsystems/UnityOpenXR/UnitySubsystemsManifest.json. +[Subsystems] 1 'inputs' descriptors matched in UnitySubsystems/UnityOpenXR/UnitySubsystemsManifest.json +[Subsystems] 1 'displays' descriptors matched in UnitySubsystems/UnityOpenXR/UnitySubsystemsManifest.json +[Subsystems] No descriptors matched for meshings in UnitySubsystems/UnityOpenXR/UnitySubsystemsManifest.json. +GfxDevice: creating device client; threaded=1; jobified=0 +Renderer: Mesa Intel(R) UHD Graphics 630 (CFL GT2) +Vendor: Intel +Version: 4.6 (Core Profile) Mesa 21.2.6 +GLES: 0 + GL_3DFX_texture_compression_FXT1 GL_AMD_conservative_depth GL_AMD_depth_clamp_separate GL_AMD_draw_buffers_blend GL_AMD_gpu_shader_int64 GL_AMD_multi_draw_indirect GL_AMD_performance_monitor GL_AMD_pinned_memory GL_AMD_query_buffer_object GL_AMD_seamless_cubemap_per_texture GL_AMD_shader_stencil_export GL_AMD_shader_trinary_minmax GL_AMD_texture_texture4 GL_AMD_vertex_shader_layer GL_AMD_vertex_shader_viewport_index GL_ANGLE_texture_compression_dxt3 GL_ANGLE_texture_compression_dxt5 GL_ARB_ES2_compatibility GL_ARB_ES3_1_compatibility GL_ARB_ES3_2_compatibility GL_ARB_ES3_compatibility GL_ARB_arrays_of_arrays GL_ARB_base_instance GL_ARB_blend_func_extended GL_ARB_buffer_storage GL_ARB_clear_buffer_object GL_ARB_clear_texture GL_ARB_clip_control GL_ARB_compressed_texture_pixel_storage GL_ARB_compute_shader GL_ARB_compute_variable_group_size GL_ARB_conditional_render_inverted GL_ARB_conservative_depth GL_ARB_copy_buffer GL_ARB_copy_image GL_ARB_cull_distance GL_ARB_debug_output GL_ARB_depth_buffer_float GL_ARB +_depth_clamp GL_ARB_derivative_control GL_ARB_direct_state_access GL_ARB_draw_buffers GL_ARB_draw_buffers_blend GL_ARB_draw_elements_base_vertex GL_ARB_draw_indirect GL_ARB_draw_instanced GL_ARB_enhanced_layouts GL_ARB_explicit_attrib_location GL_ARB_explicit_uniform_location GL_ARB_fragment_coord_conventions GL_ARB_fragment_layer_viewport GL_ARB_fragment_shader GL_ARB_fragment_shader_interlock GL_ARB_framebuffer_no_attachments GL_ARB_framebuffer_object GL_ARB_framebuffer_sRGB GL_ARB_get_program_binary GL_ARB_get_texture_sub_image GL_ARB_gl_spirv GL_ARB_gpu_shader5 GL_ARB_gpu_shader_fp64 GL_ARB_gpu_shader_int64 GL_ARB_half_float_pixel GL_ARB_half_float_vertex GL_ARB_indirect_parameters GL_ARB_instanced_arrays GL_ARB_internalformat_query GL_ARB_internalformat_query2 GL_ARB_invalidate_subdata GL_ARB_map_buffer_alignment GL_ARB_map_buffer_range GL_ARB_multi_bind GL_ARB_multi_draw_indirect GL_ARB_occlusion_query2 GL_ARB_parallel_shader_compile GL_ARB_pipeline_statistics_query GL_ARB_pixel_buffer_object GL_ARB_po +int_sprite GL_ARB_polygon_offset_clamp GL_ARB_post_depth_coverage GL_ARB_program_interface_query GL_ARB_provoking_vertex GL_ARB_query_buffer_object GL_ARB_robust_buffer_access_behavior GL_ARB_robustness GL_ARB_sample_shading GL_ARB_sampler_objects GL_ARB_seamless_cube_map GL_ARB_seamless_cubemap_per_texture GL_ARB_separate_shader_objects GL_ARB_shader_atomic_counter_ops GL_ARB_shader_atomic_counters GL_ARB_shader_ballot GL_ARB_shader_bit_encoding GL_ARB_shader_clock GL_ARB_shader_draw_parameters GL_ARB_shader_group_vote GL_ARB_shader_image_load_store GL_ARB_shader_image_size GL_ARB_shader_objects GL_ARB_shader_precision GL_ARB_shader_stencil_export GL_ARB_shader_storage_buffer_object GL_ARB_shader_subroutine GL_ARB_shader_texture_image_samples GL_ARB_shader_texture_lod GL_ARB_shader_viewport_layer_array GL_ARB_shading_language_420pack GL_ARB_shading_language_include GL_ARB_shading_language_packing GL_ARB_spirv_extensions GL_ARB_stencil_texturing GL_ARB_sync GL_ARB_tessellation_shader GL_ARB_texture_barrier G +L_ARB_texture_buffer_object GL_ARB_texture_buffer_object_rgb32 GL_ARB_texture_buffer_range GL_ARB_texture_compression_bptc GL_ARB_texture_compression_rgtc GL_ARB_texture_cube_map_array GL_ARB_texture_filter_anisotropic GL_ARB_texture_float GL_ARB_texture_gather GL_ARB_texture_mirror_clamp_to_edge GL_ARB_texture_multisample GL_ARB_texture_non_power_of_two GL_ARB_texture_query_levels GL_ARB_texture_query_lod GL_ARB_texture_rectangle GL_ARB_texture_rg GL_ARB_texture_rgb10_a2ui GL_ARB_texture_stencil8 GL_ARB_texture_storage GL_ARB_texture_storage_multisample GL_ARB_texture_swizzle GL_ARB_texture_view GL_ARB_timer_query GL_ARB_transform_feedback2 GL_ARB_transform_feedback3 GL_ARB_transform_feedback_instanced GL_ARB_transform_feedback_overflow_query GL_ARB_uniform_buffer_object GL_ARB_vertex_array_bgra GL_ARB_vertex_array_object GL_ARB_vertex_attrib_64bit GL_ARB_vertex_attrib_binding GL_ARB_vertex_buffer_object GL_ARB_vertex_shader GL_ARB_vertex_type_10f_11f_11f_rev GL_ARB_vertex_type_2_10_10_10_rev GL_ARB_viewpor +t_array GL_ATI_blend_equation_separate GL_ATI_texture_float GL_EXT_EGL_image_storage GL_EXT_EGL_sync GL_EXT_abgr GL_EXT_blend_equation_separate GL_EXT_demote_to_helper_invocation GL_EXT_draw_buffers2 GL_EXT_draw_instanced GL_EXT_framebuffer_blit GL_EXT_framebuffer_multisample GL_EXT_framebuffer_multisample_blit_scaled GL_EXT_framebuffer_object GL_EXT_framebuffer_sRGB GL_EXT_memory_object GL_EXT_memory_object_fd GL_EXT_packed_depth_stencil GL_EXT_packed_float GL_EXT_pixel_buffer_object GL_EXT_polygon_offset_clamp GL_EXT_provoking_vertex GL_EXT_semaphore GL_EXT_semaphore_fd GL_EXT_shader_framebuffer_fetch GL_EXT_shader_framebuffer_fetch_non_coherent GL_EXT_shader_integer_mix GL_EXT_shader_samples_identical GL_EXT_texture_array GL_EXT_texture_compression_dxt1 GL_EXT_texture_compression_rgtc GL_EXT_texture_compression_s3tc GL_EXT_texture_filter_anisotropic GL_EXT_texture_integer GL_EXT_texture_sRGB GL_EXT_texture_sRGB_R8 GL_EXT_texture_sRGB_decode GL_EXT_texture_shadow_lod GL_EXT_texture_shared_exponent GL_EXT_t +exture_snorm GL_EXT_texture_swizzle GL_EXT_timer_query GL_EXT_transform_feedback GL_EXT_vertex_array_bgra GL_EXT_vertex_attrib_64bit GL_IBM_multimode_draw_arrays GL_INTEL_blackhole_render GL_INTEL_conservative_rasterization GL_INTEL_performance_query GL_INTEL_shader_atomic_float_minmax GL_INTEL_shader_integer_functions2 GL_KHR_blend_equation_advanced GL_KHR_blend_equation_advanced_coherent GL_KHR_context_flush_control GL_KHR_debug GL_KHR_no_error GL_KHR_parallel_shader_compile GL_KHR_robust_buffer_access_behavior GL_KHR_robustness GL_KHR_texture_compression_astc_ldr GL_KHR_texture_compression_astc_sliced_3d GL_MESA_framebuffer_flip_y GL_MESA_pack_invert GL_MESA_shader_integer_functions GL_MESA_texture_signed_rgba GL_NV_compute_shader_derivatives GL_NV_conditional_render GL_NV_copy_image GL_NV_depth_clamp GL_NV_fragment_shader_interlock GL_NV_packed_depth_stencil GL_NV_texture_barrier GL_OES_EGL_image GL_S3_s3tc +OPENGL LOG: Creating OpenGL 4.6 graphics device ; Context level ; Context handle 28156016 +Begin MonoManager ReloadAssembly +- Completed reload, in 0.075 seconds +Default vsync count 0 +requesting resize 1 x 1 +resizing window to 1 x 1 +Desktop is 3840 x 2160 @ 60 Hz +Disable old input system +The referenced script on this Behaviour (Game Object 'StaticLightingSky') is missing! +The referenced script on this Behaviour (Game Object 'BackButton') is missing! +UnloadTime: 0.650729 ms +Grabbable component needs Rigidbody in order to work, adding one +Grabbable component needs Rigidbody in order to work, adding one +/home/aleksi/Workspace/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build.x86_64 +-simulated +-port +40011 +-logFile +/home/aleksi/Workspace/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/app_logs/1706554295360775 +-beats_vr_track +default +-right_hand_only +Logs will be saved to /home/aleksi/.config/unity3d/DefaultCompany/New Unity Project/logging/2024-01-29 +Starting up ZMQ server at tcp://localhost:40011 +Waiting for User-in-the-Box to confirm connection +Connection confirmed +requesting resize 1 x 1 +resizing window to 1 x 1 +Desktop is 3840 x 2160 @ 60 Hz +Event Camera must be set on World Space Canvas to perform ray casts with tracked device. UI events will not function correctly until it is set. +Event Camera must be set on World Space Canvas to perform ray casts with tracked device. UI events will not function correctly until it is set. +Executing Unity Signal Handler + +Server timed out, no message received +NullReferenceException: Object reference not set to an instance of an object + at UserInTheBox.SimulatedUser.UpdateAnchors (UserInTheBox.SimulatedUserState state) [0x0000b] in <9a84b511e8574ef5b59b5af8d7585c06>:0 + at UserInTheBox.SimulatedUser.Update () [0x00037] in <9a84b511e8574ef5b59b5af8d7585c06>:0 + +FiniteStateMachineException: Rep.XSend - cannot send another reply + at NetMQ.Core.Patterns.Rep.XSend (NetMQ.Msg& msg) [0x00012] in :0 + at NetMQ.Core.SocketBase.TrySend (NetMQ.Msg& msg, System.TimeSpan timeout, System.Boolean more) [0x00041] in :0 + at NetMQ.NetMQSocket.TrySend (NetMQ.Msg& msg, System.TimeSpan timeout, System.Boolean more) [0x00000] in :0 + at NetMQ.OutgoingSocketExtensions.Send (NetMQ.IOutgoingSocket socket, NetMQ.Msg& msg, System.Boolean more) [0x00000] in :0 + at NetMQ.OutgoingSocketExtensions.SendFrame (NetMQ.IOutgoingSocket socket, System.String message, System.Boolean more) [0x0002b] in :0 + at UserInTheBox.ZmqServer.SendObservation (System.Boolean isFinished, System.Single reward, System.Byte[] image, System.Single timeFeature) [0x00042] in <9a84b511e8574ef5b59b5af8d7585c06>:0 + at UserInTheBox.SimulatedUser.LateUpdate () [0x000a4] in <9a84b511e8574ef5b59b5af8d7585c06>:0 + +Setting up 6 worker threads for Enlighten. +Curl error 42: Callback aborted +Memory Statistics: +[ALLOC_TEMP_TLS] TLS Allocator + StackAllocators : + [ALLOC_TEMP_MAIN] + Peak usage frame count: [1.0 KB-2.0 KB]: 1 frames, [16.0 KB-32.0 KB]: 25 frames, [32.0 KB-64.0 KB]: 41 frames, [4.0 MB-8.0 MB]: 1 frames + Initial Block Size 4.0 MB + Current Block Size 4.1 MB + Peak Allocated Bytes 4.0 MB + Overflow Count 0 + [ALLOC_TEMP_Loading.AsyncRead] + Initial Block Size 64.0 KB + Current Block Size 64.0 KB + Peak Allocated Bytes 200 B + Overflow Count 0 + [ALLOC_TEMP_Loading.PreloadManager] + Initial Block Size 256.0 KB + Current Block Size 480.0 KB + Peak Allocated Bytes 468.5 KB + Overflow Count 4 + [ALLOC_TEMP_Background Job.Worker 8] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 6] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 0] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 10] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 9] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 66 B + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 5] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 14] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 6] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 66 B + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 4] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 3] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 12] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_EnlightenWorker] x 6 + Initial Block Size 64.0 KB + Current Block Size 64.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 15] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 1] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 2] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 7] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_UnityGfxDeviceWorker] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 55.0 KB + Overflow Count 0 + [ALLOC_TEMP_AssetGarbageCollectorHelper] x 11 + Initial Block Size 64.0 KB + Current Block Size 64.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 5] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 9] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 13] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 8] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 7] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 1] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 9.5 KB + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 2] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 3] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 66 B + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 11] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_Job.Worker 10] + Initial Block Size 256.0 KB + Current Block Size 256.0 KB + Peak Allocated Bytes 1.1 KB + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 0] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 124 B + Overflow Count 1 + [ALLOC_TEMP_CloudJob.Worker 0] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 6.2 KB + Overflow Count 0 + [ALLOC_TEMP_Background Job.Worker 4] + Initial Block Size 32.0 KB + Current Block Size 32.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 + [ALLOC_TEMP_BatchDeleteObjects] + Initial Block Size 64.0 KB + Current Block Size 64.0 KB + Peak Allocated Bytes 0 B + Overflow Count 0 +[ALLOC_DEFAULT] Dual Thread Allocator + Peak main deferred allocation count 62 + [ALLOC_BUCKET] + Large Block size 4.0 MB + Used Block count 1 + Peak Allocated bytes 3.2 MB + [ALLOC_DEFAULT_MAIN] + Peak usage frame count: [8.0 MB-16.0 MB]: 67 frames, [16.0 MB-32.0 MB]: 1 frames + Requested Block Size 16.0 MB + Peak Block count 2 + Peak Allocated memory 16.5 MB + Peak Large allocation bytes 0 B + [ALLOC_DEFAULT_THREAD] + Peak usage frame count: [32.0 MB-64.0 MB]: 68 frames + Requested Block Size 16.0 MB + Peak Block count 1 + Peak Allocated memory 36.1 MB + Peak Large allocation bytes 29.3 MB +[ALLOC_TEMP_JOB_1_FRAME] + Initial Block Size 2.0 MB + Used Block Count 1 + Overflow Count (too large) 0 + Overflow Count (full) 0 +[ALLOC_TEMP_JOB_2_FRAMES] + Initial Block Size 2.0 MB + Used Block Count 1 + Overflow Count (too large) 0 + Overflow Count (full) 0 +[ALLOC_TEMP_JOB_4_FRAMES (JobTemp)] + Initial Block Size 2.0 MB + Used Block Count 2 + Overflow Count (too large) 0 + Overflow Count (full) 0 +[ALLOC_TEMP_JOB_ASYNC (Background)] + Initial Block Size 1.0 MB + Used Block Count 3 + Overflow Count (too large) 0 + Overflow Count (full) 0 +[ALLOC_GFX] Dual Thread Allocator + Peak main deferred allocation count 3 + [ALLOC_BUCKET] + Large Block size 4.0 MB + Used Block count 1 + Peak Allocated bytes 3.2 MB + [ALLOC_GFX_MAIN] + Peak usage frame count: [0.5 MB-1.0 MB]: 67 frames, [2.0 MB-4.0 MB]: 1 frames + Requested Block Size 16.0 MB + Peak Block count 1 + Peak Allocated memory 2.7 MB + Peak Large allocation bytes 0 B + [ALLOC_GFX_THREAD] + Peak usage frame count: [64.0 KB-128.0 KB]: 67 frames, [0.5 MB-1.0 MB]: 1 frames + Requested Block Size 16.0 MB + Peak Block count 1 + Peak Allocated memory 0.6 MB + Peak Large allocation bytes 0 B +[ALLOC_CACHEOBJECTS] Dual Thread Allocator + Peak main deferred allocation count 0 + [ALLOC_BUCKET] + Large Block size 4.0 MB + Used Block count 1 + Peak Allocated bytes 3.2 MB + [ALLOC_CACHEOBJECTS_MAIN] + Peak usage frame count: [64.0 MB-128.0 MB]: 68 frames + Requested Block Size 4.0 MB + Peak Block count 18 + Peak Allocated memory 121.2 MB + Peak Large allocation bytes 56.9 MB + [ALLOC_CACHEOBJECTS_THREAD] + Peak usage frame count: [4.0 MB-8.0 MB]: 67 frames, [8.0 MB-16.0 MB]: 1 frames + Requested Block Size 4.0 MB + Peak Block count 3 + Peak Allocated memory 9.2 MB + Peak Large allocation bytes 0 B +[ALLOC_TYPETREE] Dual Thread Allocator + Peak main deferred allocation count 0 + [ALLOC_BUCKET] + Large Block size 4.0 MB + Used Block count 1 + Peak Allocated bytes 3.2 MB + [ALLOC_TYPETREE_MAIN] + Peak usage frame count: [4.0 KB-8.0 KB]: 68 frames + Requested Block Size 2.0 MB + Peak Block count 1 + Peak Allocated memory 5.1 KB + Peak Large allocation bytes 0 B + [ALLOC_TYPETREE_THREAD] + Peak usage frame count: [8.0 KB-16.0 KB]: 68 frames + Requested Block Size 2.0 MB + Peak Block count 1 + Peak Allocated memory 11.1 KB + Peak Large allocation bytes 0 B diff --git a/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build.x86_64 b/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build.x86_64 new file mode 100644 index 00000000..e3cf206c Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build.x86_64 differ diff --git a/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_BurstDebugInformation_DoNotShip/Data/Plugins/lib_burst_generated.txt b/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_BurstDebugInformation_DoNotShip/Data/Plugins/lib_burst_generated.txt new file mode 100644 index 00000000..11003864 --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_BurstDebugInformation_DoNotShip/Data/Plugins/lib_burst_generated.txt @@ -0,0 +1,466 @@ +Library: lib_burst_generated +--platform=Linux +--backend=burst-llvm-12 +--target=X64_SSE2 +--global-safety-checks-setting=Off +--dump=Function +--float-precision=Standard +--disable-warnings=BC1370 +--compilation-defines=UNITY_2021_3_14 +--compilation-defines=UNITY_2021_3 +--compilation-defines=UNITY_2021 +--compilation-defines=UNITY_5_3_OR_NEWER +--compilation-defines=UNITY_5_4_OR_NEWER +--compilation-defines=UNITY_5_5_OR_NEWER +--compilation-defines=UNITY_5_6_OR_NEWER +--compilation-defines=UNITY_2017_1_OR_NEWER +--compilation-defines=UNITY_2017_2_OR_NEWER +--compilation-defines=UNITY_2017_3_OR_NEWER +--compilation-defines=UNITY_2017_4_OR_NEWER +--compilation-defines=UNITY_2018_1_OR_NEWER +--compilation-defines=UNITY_2018_2_OR_NEWER +--compilation-defines=UNITY_2018_3_OR_NEWER +--compilation-defines=UNITY_2018_4_OR_NEWER +--compilation-defines=UNITY_2019_1_OR_NEWER +--compilation-defines=UNITY_2019_2_OR_NEWER +--compilation-defines=UNITY_2019_3_OR_NEWER +--compilation-defines=UNITY_2019_4_OR_NEWER +--compilation-defines=UNITY_2020_1_OR_NEWER +--compilation-defines=UNITY_2020_2_OR_NEWER +--compilation-defines=UNITY_2020_3_OR_NEWER +--compilation-defines=UNITY_2021_1_OR_NEWER +--compilation-defines=UNITY_2021_2_OR_NEWER +--compilation-defines=UNITY_2021_3_OR_NEWER +--compilation-defines=PLATFORM_ARCH_64 +--compilation-defines=UNITY_64 +--compilation-defines=UNITY_ANALYTICS +--compilation-defines=USE_SEARCH_ENGINE_API +--compilation-defines=USE_SEARCH_TABLE +--compilation-defines=USE_SEARCH_MODULE +--compilation-defines=USE_PROPERTY_DATABASE +--compilation-defines=USE_SEARCH_EXTENSION_API +--compilation-defines=ENABLE_AUDIO +--compilation-defines=ENABLE_CACHING +--compilation-defines=ENABLE_CLOTH +--compilation-defines=ENABLE_MICROPHONE +--compilation-defines=ENABLE_MULTIPLE_DISPLAYS +--compilation-defines=ENABLE_PHYSICS +--compilation-defines=ENABLE_TEXTURE_STREAMING +--compilation-defines=ENABLE_VIRTUALTEXTURING +--compilation-defines=ENABLE_UNET +--compilation-defines=ENABLE_LZMA +--compilation-defines=ENABLE_UNITYEVENTS +--compilation-defines=ENABLE_VR +--compilation-defines=ENABLE_WEBCAM +--compilation-defines=ENABLE_UNITYWEBREQUEST +--compilation-defines=ENABLE_WWW +--compilation-defines=ENABLE_CLOUD_SERVICES +--compilation-defines=ENABLE_CLOUD_SERVICES_COLLAB +--compilation-defines=ENABLE_CLOUD_SERVICES_COLLAB_SOFTLOCKS +--compilation-defines=ENABLE_CLOUD_SERVICES_ADS +--compilation-defines=ENABLE_CLOUD_SERVICES_USE_WEBREQUEST +--compilation-defines=ENABLE_CLOUD_SERVICES_CRASH_REPORTING +--compilation-defines=ENABLE_CLOUD_SERVICES_PURCHASING +--compilation-defines=ENABLE_CLOUD_SERVICES_ANALYTICS +--compilation-defines=ENABLE_CLOUD_SERVICES_UNET +--compilation-defines=ENABLE_CLOUD_SERVICES_BUILD +--compilation-defines=ENABLE_CLOUD_LICENSE +--compilation-defines=ENABLE_EDITOR_HUB_LICENSE +--compilation-defines=ENABLE_WEBSOCKET_CLIENT +--compilation-defines=ENABLE_DIRECTOR_AUDIO +--compilation-defines=ENABLE_DIRECTOR_TEXTURE +--compilation-defines=ENABLE_MANAGED_JOBS +--compilation-defines=ENABLE_MANAGED_TRANSFORM_JOBS +--compilation-defines=ENABLE_MANAGED_ANIMATION_JOBS +--compilation-defines=ENABLE_MANAGED_AUDIO_JOBS +--compilation-defines=ENABLE_MANAGED_UNITYTLS +--compilation-defines=INCLUDE_DYNAMIC_GI +--compilation-defines=ENABLE_SCRIPTING_GC_WBARRIERS +--compilation-defines=PLATFORM_SUPPORTS_MONO +--compilation-defines=RENDER_SOFTWARE_CURSOR +--compilation-defines=ENABLE_VIDEO +--compilation-defines=ENABLE_ACCELERATOR_CLIENT_DEBUGGING +--compilation-defines=PLATFORM_STANDALONE +--compilation-defines=TEXTCORE_1_0_OR_NEWER +--compilation-defines=PLATFORM_STANDALONE_LINUX +--compilation-defines=UNITY_STANDALONE_LINUX +--compilation-defines=UNITY_STANDALONE +--compilation-defines=UNITY_STANDALONE_LINUX_API +--compilation-defines=ENABLE_RUNTIME_GI +--compilation-defines=ENABLE_MOVIES +--compilation-defines=ENABLE_NETWORK +--compilation-defines=ENABLE_CRUNCH_TEXTURE_COMPRESSION +--compilation-defines=ENABLE_UNITY_GAME_SERVICES_ANALYTICS_SUPPORT +--compilation-defines=ENABLE_CLUSTER_SYNC +--compilation-defines=ENABLE_CLUSTERINPUT +--compilation-defines=ENABLE_SPATIALTRACKING +--compilation-defines=ENABLE_MODULAR_UNITYENGINE_ASSEMBLIES +--compilation-defines=ENABLE_WEBSOCKET_HOST +--compilation-defines=ENABLE_MONO +--compilation-defines=NET_STANDARD_2_0 +--compilation-defines=NET_STANDARD +--compilation-defines=NET_STANDARD_2_1 +--compilation-defines=NETSTANDARD +--compilation-defines=NETSTANDARD2_1 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differ diff --git a/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_Data/MonoBleedingEdge/etc/config b/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_Data/MonoBleedingEdge/etc/config new file mode 100644 index 00000000..c1d28630 --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_Data/MonoBleedingEdge/etc/config @@ -0,0 +1,46 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_Data/MonoBleedingEdge/etc/mono/2.0/Browsers/Compat.browser b/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_Data/MonoBleedingEdge/etc/mono/2.0/Browsers/Compat.browser new file mode 100644 index 00000000..dcedf7f7 --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_Data/MonoBleedingEdge/etc/mono/2.0/Browsers/Compat.browser @@ -0,0 +1,42 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_Data/MonoBleedingEdge/etc/mono/2.0/DefaultWsdlHelpGenerator.aspx b/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_Data/MonoBleedingEdge/etc/mono/2.0/DefaultWsdlHelpGenerator.aspx new file mode 100644 index 00000000..f4d74bff --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_Data/MonoBleedingEdge/etc/mono/2.0/DefaultWsdlHelpGenerator.aspx @@ -0,0 +1,1901 @@ +<%-- +// +// DefaultWsdlHelpGenerator.aspx: +// +// Author: +// Lluis Sanchez Gual (lluis@ximian.com) +// +// (C) 2003 Ximian, Inc. http://www.ximian.com +// +--%> + +<%@ Import Namespace="System.Collections" %> +<%@ Import Namespace="System.Collections.Generic" %> +<%@ Import Namespace="System.IO" %> +<%@ Import Namespace="System.Xml.Serialization" %> +<%@ Import Namespace="System.Xml" %> +<%@ Import Namespace="System.Xml.Schema" %> +<%@ Import Namespace="System.Web.Services" %> +<%@ Import Namespace="System.Web.Services.Description" %> +<%@ Import Namespace="System.Web.Services.Configuration" %> +<%@ Import Namespace="System.Web.Configuration" %> +<%@ Import Namespace="System" %> +<%@ Import Namespace="System.Net" %> +<%@ Import Namespace="System.Globalization" %> +<%@ Import Namespace="System.Resources" %> +<%@ Import Namespace="System.Diagnostics" %> +<%@ Import Namespace="System.CodeDom" %> +<%@ Import Namespace="System.CodeDom.Compiler" %> +<%@ Import Namespace="Microsoft.CSharp" %> +<%@ Import Namespace="Microsoft.VisualBasic" %> +<%@ Import Namespace="System.Text" %> +<%@ Import Namespace="System.Text.RegularExpressions" %> +<%@ Import Namespace="System.Security.Cryptography.X509Certificates" %> +<%@ Assembly name="System.Web.Services" %> +<%@ Page debug="true" %> + + + + + + <% + Response.Write (""); + %> + <%=WebServiceName%> Web Service + + + + + + + +
+Web Service
+<%=WebServiceName%> +
+ + + + + + + + +
+
+Overview
+
+Service Description +
+Client proxy +

+ + + <%#FormatBindingName(DataBinder.Eval(Container.DataItem, "Name").ToString())%> + + + op=<%#GetOpName(Container.DataItem)%>&bnd=<%#DataBinder.Eval(Container.DataItem, "Binding.Name")%>"><%#GetOpName(Container.DataItem)%> +
+ + +
+ + + +		 + +<% if (CurrentPage == "main") {%> + + + +

Web Service Overview

+ <%=WebServiceDescription%> +

+ <% if (ProfileViolations != null && ProfileViolations.Count > 0) { %> +

Basic Profile Conformance

+ This web service does not conform to WS-I Basic Profile v1.1 + <% + Response.Write ("
    "); + foreach (BasicProfileViolation vio in ProfileViolations) { + Response.Write ("
  • " + vio.NormativeStatement + ": " + vio.Details); + Response.Write ("
      "); + foreach (string ele in vio.Elements) + Response.Write ("
    • " + ele + "
      • "); + Response.Write ("
    "); + Response.Write ("
    • "); + } + Response.Write ("
"); + }%> + +<%} if (DefaultBinding == null) {%> +This service does not contain any public web method. +<%} else if (CurrentPage == "op") {%> + + + + <%=CurrentOperationName%> +

+ <% WriteTabs (); %> +


+ + <% if (CurrentTab == "main") { %> + Input Parameters +
+ <% if (InParams.Count == 0) { %> + No input parameters
+ <% } else { %> + + + + + + + + + +
<%#DataBinder.Eval(Container.DataItem, "Name")%><%#DataBinder.Eval(Container.DataItem, "Type")%>
+ <% } %> +
+ + <% if (OutParams.Count > 0) { %> + Output Parameters +
+ + + + + + + + + +
<%#DataBinder.Eval(Container.DataItem, "Name")%><%#DataBinder.Eval(Container.DataItem, "Type")%>
+
+ <% } %> + + Remarks +
+ <%=OperationDocumentation%> +

+ Technical information +
+ Format: <%=CurrentOperationFormat%> +
Supported protocols: <%=CurrentOperationProtocols%> + <% } %> + + + + <% if (CurrentTab == "test") { + if (CurrentOperationSupportsTest) {%> + Enter values for the parameters and click the 'Invoke' button to test this method:

+
+ + + + + + + + + + + + + + + +
<%#DataBinder.Eval(Container.DataItem, "Name")%>: ">
 
+
+
"> + The web service returned the following result:

+
+
+ +
+ <% } else {%> + The test form is not available for this operation because it has parameters with a complex structure. + <% } %> + <% } %> + + + + <% if (CurrentTab == "msg") { %> + + The following are sample SOAP requests and responses for each protocol supported by this method: +

+ + <% if (IsOperationSupported ("Soap")) { %> + Soap +

+
<%=GenerateOperationMessages ("Soap", true)%>
+
+
<%=GenerateOperationMessages ("Soap", false)%>
+
+ <% } %> + <% if (IsOperationSupported ("HttpGet")) { %> + HTTP Get +

+
<%=GenerateOperationMessages ("HttpGet", true)%>
+
+
<%=GenerateOperationMessages ("HttpGet", false)%>
+
+ <% } %> + <% if (IsOperationSupported ("HttpPost")) { %> + HTTP Post +

+
<%=GenerateOperationMessages ("HttpPost", true)%>
+
+
<%=GenerateOperationMessages ("HttpPost", false)%>
+
+ <% } %> + + <% } %> +<%} else if (CurrentPage == "proxy") {%> + +
+ Select the language for which you want to generate a proxy +   + +    +
+
+ <%=CurrentProxytName%>    + Download +

+
+
<%=GetProxyCode ()%>
+
+<%} else if (CurrentPage == "wsdl") {%> + + <% if (descriptions.Count > 1 || schemas.Count > 1) {%> + The description of this web service is composed by several documents. Click on the document you want to see: + + + + <%} else {%> + <%}%> +
+ <%=CurrentDocumentName%>    + Download +

+
+
<%=GenerateDocument ()%>
+
+ +<%}%> + +














+
+ + diff --git a/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_Data/MonoBleedingEdge/etc/mono/2.0/machine.config b/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_Data/MonoBleedingEdge/etc/mono/2.0/machine.config new file mode 100644 index 00000000..2577c81d --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_Data/MonoBleedingEdge/etc/mono/2.0/machine.config @@ -0,0 +1,280 @@ + + + + + +
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+Web Service
+<%=WebServiceName%> +
+ + + + + + + + +
+
+Overview
+
+Service Description +
+Client proxy +

+ + + <%#FormatBindingName(DataBinder.Eval(Container.DataItem, "Name").ToString())%> + + + op=<%#GetOpName(Container.DataItem)%>&bnd=<%#DataBinder.Eval(Container.DataItem, "Binding.Name")%>"><%#GetOpName(Container.DataItem)%> +
+ + +
+ + + +		 + +<% if (CurrentPage == "main") {%> + + + +

Web Service Overview

+ <%=WebServiceDescription%> +

+ <% if (ProfileViolations != null && ProfileViolations.Count > 0) { %> +

Basic Profile Conformance

+ This web service does not conform to WS-I Basic Profile v1.1 + <% + Response.Write ("
    "); + foreach (BasicProfileViolation vio in ProfileViolations) { + Response.Write ("
  • " + vio.NormativeStatement + ": " + vio.Details); + Response.Write ("
      "); + foreach (string ele in vio.Elements) + Response.Write ("
    • " + ele + "
      • "); + Response.Write ("
    "); + Response.Write ("
    • "); + } + Response.Write ("
"); + }%> + +<%} if (DefaultBinding == null) {%> +This service does not contain any public web method. +<%} else if (CurrentPage == "op") {%> + + + + <%=CurrentOperationName%> +

+ <% WriteTabs (); %> +


+ + <% if (CurrentTab == "main") { %> + Input Parameters +
+ <% if (InParams.Count == 0) { %> + No input parameters
+ <% } else { %> + + + + + + + + + +
<%#DataBinder.Eval(Container.DataItem, "Name")%><%#DataBinder.Eval(Container.DataItem, "Type")%>
+ <% } %> +
+ + <% if (OutParams.Count > 0) { %> + Output Parameters +
+ + + + + + + + + +
<%#DataBinder.Eval(Container.DataItem, "Name")%><%#DataBinder.Eval(Container.DataItem, "Type")%>
+
+ <% } %> + + Remarks +
+ <%=OperationDocumentation%> +

+ Technical information +
+ Format: <%=CurrentOperationFormat%> +
Supported protocols: <%=CurrentOperationProtocols%> + <% } %> + + + + <% if (CurrentTab == "test") { + if (CurrentOperationSupportsTest) {%> + Enter values for the parameters and click the 'Invoke' button to test this method:

+
+ + + + + + + + + + + + + + + +
<%#DataBinder.Eval(Container.DataItem, "Name")%>: ">
 
+
+
"> + The web service returned the following result:

+
+
+ +
+ <% } else {%> + The test form is not available for this operation because it has parameters with a complex structure. + <% } %> + <% } %> + + + + <% if (CurrentTab == "msg") { %> + + The following are sample SOAP requests and responses for each protocol supported by this method: +

+ + <% if (IsOperationSupported ("Soap")) { %> + Soap +

+
<%=GenerateOperationMessages ("Soap", true)%>
+
+
<%=GenerateOperationMessages ("Soap", false)%>
+
+ <% } %> + <% if (IsOperationSupported ("HttpGet")) { %> + HTTP Get +

+
<%=GenerateOperationMessages ("HttpGet", true)%>
+
+
<%=GenerateOperationMessages ("HttpGet", false)%>
+
+ <% } %> + <% if (IsOperationSupported ("HttpPost")) { %> + HTTP Post +

+
<%=GenerateOperationMessages ("HttpPost", true)%>
+
+
<%=GenerateOperationMessages ("HttpPost", false)%>
+
+ <% } %> + + <% } %> +<%} else if (CurrentPage == "proxy") {%> + +
+ Select the language for which you want to generate a proxy +   + +    +
+
+ <%=CurrentProxytName%>    + Download +

+
+
<%=GetProxyCode ()%>
+
+<%} else if (CurrentPage == "wsdl") {%> + + <% if (descriptions.Count > 1 || schemas.Count > 1) {%> + The description of this web service is composed by several documents. Click on the document you want to see: + + + + <%} else {%> + <%}%> +
+ <%=CurrentDocumentName%>    + Download +

+
+
<%=GenerateDocument ()%>
+
+ +<%}%> + +














+
+ + diff --git a/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_Data/MonoBleedingEdge/etc/mono/4.0/machine.config b/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_Data/MonoBleedingEdge/etc/mono/4.0/machine.config new file mode 100644 index 00000000..f3b71c43 --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_Data/MonoBleedingEdge/etc/mono/4.0/machine.config @@ -0,0 +1,307 @@ + + + + + +
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+Web Service
+<%=WebServiceName%> +
+ + + + + + + + +
+
+Overview
+
+Service Description +
+Client proxy +

+ + + <%#FormatBindingName(DataBinder.Eval(Container.DataItem, "Name").ToString())%> + + + op=<%#GetOpName(Container.DataItem)%>&bnd=<%#DataBinder.Eval(Container.DataItem, "Binding.Name")%>"><%#GetOpName(Container.DataItem)%> +
+ + +
+ + + +		 + +<% if (CurrentPage == "main") {%> + + + +

Web Service Overview

+ <%=WebServiceDescription%> +

+ <% if (ProfileViolations != null && ProfileViolations.Count > 0) { %> +

Basic Profile Conformance

+ This web service does not conform to WS-I Basic Profile v1.1 + <% + Response.Write ("
    "); + foreach (BasicProfileViolation vio in ProfileViolations) { + Response.Write ("
  • " + vio.NormativeStatement + ": " + vio.Details); + Response.Write ("
      "); + foreach (string ele in vio.Elements) + Response.Write ("
    • " + ele + "
      • "); + Response.Write ("
    "); + Response.Write ("
    • "); + } + Response.Write ("
"); + }%> + +<%} if (DefaultBinding == null) {%> +This service does not contain any public web method. +<%} else if (CurrentPage == "op") {%> + + + + <%=CurrentOperationName%> +

+ <% WriteTabs (); %> +


+ + <% if (CurrentTab == "main") { %> + Input Parameters +
+ <% if (InParams.Count == 0) { %> + No input parameters
+ <% } else { %> + + + + + + + + + +
<%#DataBinder.Eval(Container.DataItem, "Name")%><%#DataBinder.Eval(Container.DataItem, "Type")%>
+ <% } %> +
+ + <% if (OutParams.Count > 0) { %> + Output Parameters +
+ + + + + + + + + +
<%#DataBinder.Eval(Container.DataItem, "Name")%><%#DataBinder.Eval(Container.DataItem, "Type")%>
+
+ <% } %> + + Remarks +
+ <%=OperationDocumentation%> +

+ Technical information +
+ Format: <%=CurrentOperationFormat%> +
Supported protocols: <%=CurrentOperationProtocols%> + <% } %> + + + + <% if (CurrentTab == "test") { + if (CurrentOperationSupportsTest) {%> + Enter values for the parameters and click the 'Invoke' button to test this method:

+
+ + + + + + + + + + + + + + + +
<%#DataBinder.Eval(Container.DataItem, "Name")%>: ">
 
+
+
"> + The web service returned the following result:

+
+
+ +
+ <% } else {%> + The test form is not available for this operation because it has parameters with a complex structure. + <% } %> + <% } %> + + + + <% if (CurrentTab == "msg") { %> + + The following are sample SOAP requests and responses for each protocol supported by this method: +

+ + <% if (IsOperationSupported ("Soap")) { %> + Soap +

+
<%=GenerateOperationMessages ("Soap", true)%>
+
+
<%=GenerateOperationMessages ("Soap", false)%>
+
+ <% } %> + <% if (IsOperationSupported ("HttpGet")) { %> + HTTP Get +

+
<%=GenerateOperationMessages ("HttpGet", true)%>
+
+
<%=GenerateOperationMessages ("HttpGet", false)%>
+
+ <% } %> + <% if (IsOperationSupported ("HttpPost")) { %> + HTTP Post +

+
<%=GenerateOperationMessages ("HttpPost", true)%>
+
+
<%=GenerateOperationMessages ("HttpPost", false)%>
+
+ <% } %> + + <% } %> +<%} else if (CurrentPage == "proxy") {%> + +
+ Select the language for which you want to generate a proxy +   + +    +
+
+ <%=CurrentProxytName%>    + Download +

+
+
<%=GetProxyCode ()%>
+
+<%} else if (CurrentPage == "wsdl") {%> + + <% if (descriptions.Count > 1 || schemas.Count > 1) {%> + The description of this web service is composed by several documents. Click on the document you want to see: + + + + <%} else {%> + <%}%> +
+ <%=CurrentDocumentName%>    + Download +

+
+
<%=GenerateDocument ()%>
+
+ +<%}%> + +














+
+ + diff --git a/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_Data/MonoBleedingEdge/etc/mono/4.5/machine.config b/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_Data/MonoBleedingEdge/etc/mono/4.5/machine.config new file mode 100644 index 00000000..45570953 --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/unity/apps/beats-vr-linux/build_Data/MonoBleedingEdge/etc/mono/4.5/machine.config @@ -0,0 +1,310 @@ + + + + + +
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Provided courtesy of http://browsers.garykeith.com +;;; Created on Wednesday, June 17, 2009 at 6:30 AM GMT + +[GJK_Browscap_Version] +Version=4476 +Released=Wed, 17 Jun 2009 06:30:21 -0000 + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; DefaultProperties + +[DefaultProperties] +Browser=DefaultProperties +Version=0 +MajorVer=0 +MinorVer=0 +Platform=unknown +Alpha=false +Beta=false +Win16=false +Win32=false +Win64=false +Frames=false +IFrames=false +Tables=false +Cookies=false +BackgroundSounds=false +CDF=false +VBScript=false +JavaApplets=false +JavaScript=false +ActiveXControls=false +isBanned=false +isMobileDevice=false +isSyndicationReader=false +Crawler=false +CssVersion=0 +supportsCSS=false +AOL=false +aolVersion=0 +ECMAScriptVersion=0.0 +W3CDOMVersion=0.0 + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Ask + +[Ask] +Parent=DefaultProperties +Browser=Ask +Frames=true +Tables=true +Crawler=true + +[Mozilla/?.0 (compatible; Ask Jeeves/Teoma*)] +Parent=Ask +Browser=Teoma + +[Mozilla/2.0 (compatible; Ask Jeeves)] +Parent=Ask +Browser=AskJeeves + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Baidu + +[Baidu] +Parent=DefaultProperties +Browser=Baidu +Frames=true +Tables=true +Crawler=true + +[BaiduImageSpider*] +Parent=Baidu +Browser=BaiduImageSpider + +[Baiduspider*] +Parent=Baidu +Browser=BaiDu + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Google + +[Google] +Parent=DefaultProperties +Browser=Google +Frames=true +IFrames=true +Tables=true +JavaScript=true +Crawler=true + +[* (compatible; Googlebot-Mobile/2.1; *http://www.google.com/bot.html)] +Parent=Google +Browser=Googlebot-Mobile +Frames=false +IFrames=false +Tables=false + +[*Google Wireless Transcoder*] +Parent=Google +Browser=Google Wireless Transcoder + +[AdsBot-Google (?http://www.google.com/adsbot.html)] +Parent=Google +Browser=AdsBot-Google + +[Feedfetcher-Google-iGoogleGadgets;*] +Parent=Google +Browser=iGoogleGadgets +isBanned=true +isSyndicationReader=true + +[Feedfetcher-Google;*] +Parent=Google +Browser=Feedfetcher-Google +isBanned=true +isSyndicationReader=true + +[Google OpenSocial agent (http://www.google.com/feedfetcher.html)] +Parent=Google +Browser=Google OpenSocial + +[Google-Site-Verification/1.0] +Parent=Google +Browser=Google-Site-Verification + +[Google-Sitemaps/*] +Parent=Google +Browser=Google-Sitemaps + +[Googlebot-Image/*] +Parent=Google +Browser=Googlebot-Image +CDF=true + +[googlebot-urlconsole] +Parent=Google +Browser=googlebot-urlconsole + +[Googlebot-Video/1.0] +Parent=Google +Browser=Google-Video + +[Googlebot/2.1 (?http://www.google.com/bot.html)] +Parent=Google +Browser=Googlebot + +[Googlebot/2.1 (?http://www.googlebot.com/bot.html)] +Parent=Google +Browser=Googlebot + +[Googlebot/Test*] +Parent=Google +Browser=Googlebot/Test + +[gsa-crawler*] +Parent=Google +Browser=Google Search Appliance +isBanned=true + +[Mediapartners-Google*] +Parent=Google +Browser=Mediapartners-Google + +[Mozilla/4.0 (compatible; Google Desktop)] +Parent=Google +Browser=Google Desktop + +[Mozilla/4.0 (compatible; GoogleToolbar*)] +Parent=Google +Browser=Google Toolbar +isBanned=true + +[Mozilla/5.0 (compatible; Google Keyword Tool;*)] +Parent=Google +Browser=Google Keyword Tool + +[Mozilla/5.0 (compatible; Googlebot/2.1; ?http://www.google.com/bot.html)] +Parent=Google +Browser=Google Webmaster Tools + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Inktomi + +[Inktomi] +Parent=DefaultProperties +Browser=Inktomi +Frames=true +Tables=true +Crawler=true + +[* (compatible;YahooSeeker/M1A1-R2D2; *)] +Parent=Inktomi +Browser=YahooSeeker-Mobile +Frames=false +Tables=false + +[Mozilla/4.0] +Parent=Inktomi + +[Mozilla/4.0 (compatible; MSIE 5.0; Windows NT)] +Parent=Inktomi +Win32=true + +[Mozilla/4.0 (compatible; Yahoo Japan; for robot study; kasugiya)] +Parent=Inktomi +Browser=Yahoo! RobotStudy +isBanned=true + +[Mozilla/5.0 (compatible; BMC/1.0 (Y!J-AGENT))] +Parent=Inktomi +Browser=Y!J-AGENT/BMC + +[Mozilla/5.0 (compatible; BMF/1.0 (Y!J-AGENT))] +Parent=Inktomi +Browser=Y!J-AGENT/BMF + +[Mozilla/5.0 (compatible; BMI/1.0 (Y!J-AGENT; 1.0))] +Parent=Inktomi +Browser=Y!J-AGENT/BMI + +[Mozilla/5.0 (compatible; Yahoo! DE Slurp; http://help.yahoo.com/help/us/ysearch/slurp)] +Parent=Inktomi +Browser=Yahoo! Directory Engine + +[Mozilla/5.0 (compatible; Yahoo! Slurp China; http://misc.yahoo.com.cn/help.html)] +Parent=Inktomi +Browser=Yahoo! Slurp China + +[Mozilla/5.0 (compatible; Yahoo! Slurp/3.0; http://help.yahoo.com/help/us/ysearch/slurp)] +Parent=Inktomi +Browser=Yahoo! Slurp +Version=3.0 +MajorVer=3 +MinorVer=0 + +[Mozilla/5.0 (compatible; Yahoo! Slurp; http://help.yahoo.com/help/us/ysearch/slurp)] +Parent=Inktomi +Browser=Yahoo! Slurp + +[Mozilla/5.0 (compatible; Yahoo! Verifier/1.1)] +Parent=Inktomi +Browser=Yahoo! Verifier +Version=1.1 +MajorVer=1 +MinorVer=1 + +[Mozilla/5.0 (Slurp/cat; slurp@inktomi.com; http://www.inktomi.com/slurp.html)] +Parent=Inktomi +Browser=Slurp/cat + +[Mozilla/5.0 (Slurp/si; slurp@inktomi.com; http://www.inktomi.com/slurp.html)] +Parent=Inktomi + +[Mozilla/5.0 (Yahoo-MMCrawler/4.0; mailto:vertical-crawl-support@yahoo-inc.com)] +Parent=Inktomi +Browser=Yahoo-MMCrawler +Version=4.0 +MajorVer=4 +MinorVer=0 + +[Scooter/*] +Parent=Inktomi +Browser=Scooter + +[Scooter/3.3Y!CrawlX] +Parent=Inktomi +Browser=Scooter/3.3Y!CrawlX +Version=3.3 +MajorVer=3 +MinorVer=3 + +[slurp] +Parent=Inktomi +Browser=slurp + +[Y!J-BSC/1.0*] +Parent=Inktomi +Browser=Y!J-BSC +Version=1.0 +MajorVer=1 +MinorVer=0 +isBanned=true + +[Y!J-SRD/1.0] +Parent=Inktomi +Browser=Y!J-SRD +Version=1.0 +MajorVer=1 +MinorVer=0 + +[Yahoo Mindset] +Parent=Inktomi +Browser=Yahoo Mindset + +[Yahoo Pipes*] +Parent=Inktomi +Browser=Yahoo Pipes + +[Yahoo! Mindset] +Parent=Inktomi +Browser=Yahoo! Mindset + +[Yahoo! Slurp/Site Explorer] +Parent=Inktomi +Browser=Yahoo! 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Validation Checkers + +[HTML Validators] +Parent=DefaultProperties +Browser=HTML Validators +Frames=true +IFrames=true +Tables=true +Crawler=true + +[(HTML Validator http://www.searchengineworld.com/validator/)] +Parent=HTML Validators +Browser=Search Engine World HTML Validator + +[FeedValidator/1.3] +Parent=HTML Validators +Browser=FeedValidator +Version=1.3 +MajorVer=1 +MinorVer=3 + +[Jigsaw/* W3C_CSS_Validator_JFouffa/*] +Parent=HTML Validators +Browser=Jigsaw CSS Validator + +[Search Engine World Robots.txt Validator*] +Parent=HTML Validators +Browser=Search Engine World Robots.txt Validator + +[W3C_Validator/*] +Parent=HTML Validators +Browser=W3C Validator + +[W3CLineMode/*] +Parent=HTML Validators +Browser=W3C Line Mode + +[Weblide/2.? beta*] +Parent=HTML Validators +Browser=Weblide +Version=2.0 +MajorVer=2 +MinorVer=0 +Beta=true + +[WebmasterWorld StickyMail Server Header Checker*] +Parent=HTML Validators +Browser=WebmasterWorld Server Header Checker + +[WWWC/*] +Parent=HTML Validators + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Image Crawlers + +[Image Crawlers] +Parent=DefaultProperties +Browser=Image Crawlers +Frames=true +IFrames=true +Tables=true +isBanned=true +Crawler=true + +[*CFNetwork*] +Parent=Image Crawlers +Browser=CFNetwork + +[*PhotoStickies/*] +Parent=Image Crawlers +Browser=PhotoStickies + +[Camcrawler*] +Parent=Image Crawlers +Browser=Camcrawler + +[CydralSpider/*] +Parent=Image Crawlers +Browser=Cydral Web Image Search +isBanned=true + +[Der gro\xdfe BilderSauger*] +Parent=Image Crawlers +Browser=Gallery Grabber + +[Extreme Picture Finder] +Parent=Image Crawlers +Browser=Extreme Picture Finder + +[FLATARTS_FAVICO] +Parent=Image Crawlers +Browser=FlatArts Favorites Icon Tool + +[HTML2JPG Blackbox, http://www.html2jpg.com] +Parent=Image Crawlers +Browser=HTML2JPG + +[IconSurf/2.*] +Parent=Image Crawlers +Browser=IconSurf + +[kalooga/KaloogaBot*] +Parent=Image Crawlers +Browser=KaloogaBot + +[Mister PIX*] +Parent=Image Crawlers +Browser=Mister PIX + +[Mozilla/5.0 (Macintosh; U; *Mac OS X; *) AppleWebKit/* (*) Pandora/2.*] +Parent=Image Crawlers +Browser=Pandora + +[naoFavicon4IE*] +Parent=Image Crawlers +Browser=naoFavicon4IE + +[pixfinder/*] +Parent=Image Crawlers +Browser=pixfinder + +[rssImagesBot/0.1 (*http://herbert.groot.jebbink.nl/?app=rssImages)] +Parent=Image Crawlers +Browser=rssImagesBot + +[Web Image Collector*] +Parent=Image Crawlers +Browser=Web Image Collector + +[WebImages * (?http://herbert.groot.jebbink.nl/?app=WebImages?)] +Parent=Image Crawlers +Browser=WebImages + +[WebPix*] +Parent=Image Crawlers +Browser=Custo + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Link Checkers + +[Link Checkers] +Parent=DefaultProperties +Browser=Link Checkers +Frames=true +IFrames=true +Tables=true +Crawler=true + +[!Susie (http://www.sync2it.com/susie)] +Parent=Link Checkers +Browser=!Susie + +[*AgentName/*] +Parent=Link Checkers +Browser=AgentName + +[*Linkman*] +Parent=Link Checkers +Browser=Linkman + +[*LinksManager.com*] +Parent=Link Checkers +Browser=LinksManager + +[*Powermarks/*] +Parent=Link Checkers +Browser=Powermarks + +[*W3C-checklink/*] +Parent=Link Checkers +Browser=W3C Link Checker + +[*Web Link Validator*] +Parent=Link Checkers +Browser=Web Link Validator + +[*Zeus*] +Parent=Link Checkers +Browser=Zeus +isBanned=true + +[ActiveBookmark *] +Parent=Link Checkers +Browser=ActiveBookmark + +[Bookdog/*] +Parent=Link Checkers +Browser=Bookdog + +[Bookmark Buddy*] +Parent=Link Checkers +Browser=Bookmark Buddy + +[Bookmark Renewal Check Agent*] +Parent=Link Checkers +Browser=Bookmark Renewal Check Agent + +[Bookmark search tool*] +Parent=Link Checkers +Browser=Bookmark search tool + +[Bookmark-Manager] +Parent=Link Checkers +Browser=Bookmark-Manager + +[Checkbot*] +Parent=Link Checkers +Browser=Checkbot + +[CheckLinks/*] +Parent=Link Checkers +Browser=CheckLinks + +[CyberSpyder Link Test/*] +Parent=Link Checkers +Browser=CyberSpyder Link Test + +[DLC/*] +Parent=Link Checkers +Browser=DLC + +[DocWeb Link Crawler (http://doc.php.net)] +Parent=Link Checkers +Browser=DocWeb Link Crawler + +[FavOrg] +Parent=Link Checkers +Browser=FavOrg + +[Favorites Sweeper v.3.*] +Parent=Link Checkers +Browser=Favorites Sweeper + +[FindLinks/*] +Parent=Link Checkers +Browser=FindLinks + +[Funnel Web Profiler*] +Parent=Link Checkers +Browser=Funnel Web Profiler + +[Html Link Validator (www.lithopssoft.com)] +Parent=Link Checkers +Browser=HTML Link Validator + +[IECheck] +Parent=Link Checkers +Browser=IECheck + +[JCheckLinks/*] +Parent=Link Checkers +Browser=JCheckLinks + +[JRTwine Software Check Favorites Utility] +Parent=Link Checkers +Browser=JRTwine + +[Link Valet Online*] +Parent=Link Checkers +Browser=Link Valet +isBanned=true + +[LinkAlarm/*] +Parent=Link Checkers +Browser=LinkAlarm + +[Linkbot*] +Parent=Link Checkers +Browser=Linkbot + +[LinkChecker/*] +Parent=Link Checkers +Browser=LinkChecker + +[LinkextractorPro*] +Parent=Link Checkers +Browser=LinkextractorPro +isBanned=true + +[LinkLint-checkonly/*] +Parent=Link Checkers +Browser=LinkLint + +[LinkScan/*] +Parent=Link Checkers +Browser=LinkScan + +[LinkSweeper/*] +Parent=Link Checkers +Browser=LinkSweeper + +[LinkWalker*] +Parent=Link Checkers +Browser=LinkWalker + +[MetaGer-LinkChecker] +Parent=Link Checkers +Browser=MetaGer-LinkChecker + +[Mozilla/* (compatible; linktiger/*; *http://www.linktiger.com*)] +Parent=Link Checkers +Browser=LinkTiger +isBanned=true + +[Mozilla/4.0 (Compatible); URLBase*] +Parent=Link Checkers +Browser=URLBase + +[Mozilla/4.0 (compatible; Link Utility; http://net-promoter.com)] +Parent=Link Checkers +Browser=NetPromoter Link Utility + +[Mozilla/4.0 (compatible; MSIE 6.0; Windows 98) Web Link Validator*] +Parent=Link Checkers +Browser=Web Link Validator +Win32=true + +[Mozilla/4.0 (compatible; MSIE 7.0; Win32) Link Commander 3.0] +Parent=Link Checkers +Browser=Link Commander +Version=3.0 +MajorVer=3 +MinorVer=0 +Platform=Win32 + +[Mozilla/4.0 (compatible; smartBot/1.*; checking links; *)] +Parent=Link Checkers +Browser=smartBot + +[Mozilla/4.0 (compatible; SuperCleaner*;*)] +Parent=Link Checkers +Browser=SuperCleaner + +[Mozilla/5.0 gURLChecker/*] +Parent=Link Checkers +Browser=gURLChecker +isBanned=true + +[Newsgroupreporter LinkCheck] +Parent=Link Checkers +Browser=Newsgroupreporter LinkCheck + +[onCHECK Linkchecker von www.scientec.de fuer www.onsinn.de] +Parent=Link Checkers +Browser=onCHECK Linkchecker + +[online link validator (http://www.dead-links.com/)] +Parent=Link Checkers +Browser=Dead-Links.com +isBanned=true + +[REL Link Checker*] +Parent=Link Checkers +Browser=REL Link Checker + +[RLinkCheker*] +Parent=Link Checkers +Browser=RLinkCheker + +[Robozilla/*] +Parent=Link Checkers +Browser=Robozilla + +[RPT-HTTPClient/*] +Parent=Link Checkers +Browser=RPT-HTTPClient +isBanned=true + +[SafariBookmarkChecker*(?http://www.coriolis.ch/)] +Parent=Link Checkers +Browser=SafariBookmarkChecker +Platform=MacOSX +CssVersion=2 +supportsCSS=true + +[Simpy/* (Simpy; http://www.simpy.com/?ref=bot; feedback at simpy dot com)] +Parent=Link Checkers +Browser=Simpy + +[SiteBar/*] +Parent=Link Checkers +Browser=SiteBar + +[Susie (http://www.sync2it.com/bms/susie.php] +Parent=Link Checkers +Browser=Susie + +[URLBase/6.*] +Parent=Link Checkers + +[VSE/*] +Parent=Link Checkers +Browser=VSE Link Tester + +[WebTrends Link Analyzer] +Parent=Link Checkers +Browser=WebTrends Link Analyzer + +[WorQmada/*] +Parent=Link Checkers +Browser=WorQmada + +[Xenu* Link Sleuth*] +Parent=Link Checkers +Browser=Xenu's Link Sleuth +isBanned=true + +[Z-Add Link Checker*] +Parent=Link Checkers +Browser=Z-Add Link Checker + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Microsoft + +[Microsoft] +Parent=DefaultProperties +Browser=Microsoft +isBanned=true + +[Live (http://www.live.com/)] +Parent=Microsoft +Browser=Microsoft Live +isBanned=false +isSyndicationReader=true + +[MFC Foundation Class Library*] +Parent=Microsoft +Browser=MFC Foundation Class Library + +[MFHttpScan] +Parent=Microsoft +Browser=MFHttpScan + +[Microsoft BITS/*] +Parent=Microsoft +Browser=BITS + +[Microsoft Data Access Internet Publishing Provider Cache Manager] +Parent=Microsoft +Browser=MS IPP + +[Microsoft Data Access Internet Publishing Provider DAV*] +Parent=Microsoft +Browser=MS IPP DAV + +[Microsoft Data Access Internet Publishing Provider Protocol Discovery] +Parent=Microsoft +Browser=MS IPPPD + +[Microsoft Internet Explorer] +Parent=Microsoft +Browser=Fake IE + +[Microsoft Office Existence Discovery] +Parent=Microsoft +Browser=Microsoft Office Existence Discovery + +[Microsoft Office Protocol Discovery] +Parent=Microsoft +Browser=MS OPD + +[Microsoft Office/* (*Picture Manager*)] +Parent=Microsoft +Browser=Microsoft Office Picture Manager + +[Microsoft URL Control*] +Parent=Microsoft +Browser=Microsoft URL Control + +[Microsoft Visio MSIE] +Parent=Microsoft +Browser=Microsoft Visio + +[Microsoft-WebDAV-MiniRedir/*] +Parent=Microsoft +Browser=Microsoft-WebDAV + +[Mozilla/5.0 (Macintosh; Intel Mac OS X) Excel/12.*] +Parent=Microsoft +Browser=Microsoft Excel +Version=12.0 +MajorVer=12 +MinorVer=0 +Platform=MacOSX + +[MSN Feed Manager] +Parent=Microsoft +Browser=MSN Feed Manager +isBanned=false +isSyndicationReader=true + +[MSProxy/*] +Parent=Microsoft +Browser=MS Proxy + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Miscellaneous Browsers + +[Miscellaneous Browsers] +Parent=DefaultProperties +Browser=Miscellaneous Browsers +Frames=true +Tables=true +Cookies=true + +[*Amiga*] +Parent=Miscellaneous Browsers +Browser=Amiga +Platform=Amiga + +[*avantbrowser*] +Parent=Miscellaneous Browsers +Browser=Avant Browser + +[12345] +Parent=Miscellaneous Browsers +Browser=12345 +isBanned=true + +[Ace Explorer] +Parent=Miscellaneous Browsers +Browser=Ace Explorer + +[Enigma Browser*] +Parent=Miscellaneous Browsers +Browser=Enigma Browser + +[EVE-minibrowser/*] +Parent=Miscellaneous Browsers +Browser=EVE-minibrowser +IFrames=false +Tables=false +BackgroundSounds=false +VBScript=false +JavaApplets=false +JavaScript=false +ActiveXControls=false +isBanned=false +Crawler=false + +[Godzilla/* (Basic*; *; Commodore C=64; *; rv:1.*)*] +Parent=Miscellaneous Browsers +Browser=Godzilla + +[GreenBrowser] +Parent=Miscellaneous Browsers +Browser=GreenBrowser +Frames=true +IFrames=true +Tables=true +Cookies=true +BackgroundSounds=true +VBScript=true +JavaApplets=true +JavaScript=true +ActiveXControls=true +CssVersion=2 +supportsCSS=true + +[Kopiczek/* (WyderOS*; *)] +Parent=Miscellaneous Browsers +Browser=Kopiczek +Platform=WyderOS +IFrames=true +JavaApplets=true +JavaScript=true +CssVersion=2 +supportsCSS=true + +[Mozilla/* (*) - BrowseX (*)] +Parent=Miscellaneous Browsers +Browser=BrowseX + +[Mozilla/* (Win32;*Escape?*; ?)] +Parent=Miscellaneous Browsers +Browser=Escape +Platform=Win32 + +[Mozilla/4.0 (compatible; ibisBrowser)] +Parent=Miscellaneous Browsers +Browser=ibisBrowser + +[Mozilla/5.0 (Macintosh; ?; PPC Mac OS X;*) AppleWebKit/* (*) HistoryHound/*] +Parent=Miscellaneous Browsers +Browser=HistoryHound + +[NetRecorder*] +Parent=Miscellaneous Browsers +Browser=NetRecorder + +[NetSurfer*] +Parent=Miscellaneous Browsers +Browser=NetSurfer + +[ogeb browser , Version 1.1.0] +Parent=Miscellaneous Browsers +Browser=ogeb browser +Version=1.1 +MajorVer=1 +MinorVer=1 + +[SCEJ PSP BROWSER 0102pspNavigator] +Parent=Miscellaneous Browsers +Browser=Wipeout Pure + +[SlimBrowser] +Parent=Miscellaneous Browsers +Browser=SlimBrowser + +[WWW_Browser/*] +Parent=Miscellaneous Browsers +Browser=WWW Browser +Version=1.69 +MajorVer=1 +MinorVer=69 +Platform=Win16 +CssVersion=3 +supportsCSS=true + +[*Netcraft Webserver Survey*] +Parent=Netcraft +Browser=Netcraft Webserver Survey +isBanned=true + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Offline Browsers + +[Offline Browsers] +Parent=DefaultProperties +Browser=Offline Browsers +Frames=true +Tables=true +Cookies=true +isBanned=true +Crawler=true + +[*Check&Get*] +Parent=Offline Browsers +Browser=Check&Get + +[*HTTrack*] +Parent=Offline Browsers +Browser=HTTrack + +[*MSIECrawler*] +Parent=Offline Browsers +Browser=IE Offline Browser + +[*TweakMASTER*] +Parent=Offline Browsers +Browser=TweakMASTER + +[BackStreet Browser *] +Parent=Offline Browsers +Browser=BackStreet Browser + +[Go-Ahead-Got-It*] +Parent=Offline Browsers +Browser=Go Ahead Got-It + +[iGetter/*] +Parent=Offline Browsers +Browser=iGetter + +[Teleport*] +Parent=Offline Browsers +Browser=Teleport + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Online Scanners + +[Online Scanners] +Parent=DefaultProperties +Browser=Online Scanners +isBanned=true + +[JoeDog/* (X11; I; Siege *)] +Parent=Online Scanners +Browser=JoeDog +isBanned=false + +[Morfeus Fucking Scanner] +Parent=Online Scanners +Browser=Morfeus Fucking Scanner + +[Mozilla/4.0 (compatible; Trend Micro tmdr 1.*] +Parent=Online Scanners +Browser=Trend Micro + +[Titanium 2005 (4.02.01)] +Parent=Online Scanners +Browser=Panda Antivirus Titanium + +[virus_detector*] +Parent=Online Scanners +Browser=Secure Computing Corporation + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Proxy Servers + +[Proxy Servers] +Parent=DefaultProperties +Browser=Proxy Servers +isBanned=true + +[*squid*] +Parent=Proxy Servers +Browser=Squid + +[Anonymisiert*] +Parent=Proxy Servers +Browser=Anonymizied + +[Anonymizer/*] +Parent=Proxy Servers +Browser=Anonymizer + +[Anonymizied*] +Parent=Proxy Servers +Browser=Anonymizied + +[Anonymous*] +Parent=Proxy Servers +Browser=Anonymous + +[Anonymous/*] +Parent=Proxy Servers +Browser=Anonymous + +[CE-Preload] +Parent=Proxy Servers +Browser=CE-Preload + +[http://Anonymouse.org/*] +Parent=Proxy Servers +Browser=Anonymouse + +[IE/6.01 (CP/M; 8-bit*)] +Parent=Proxy Servers +Browser=Squid + +[Mozilla/* (TuringOS; Turing Machine; 0.0)] +Parent=Proxy Servers +Browser=Anonymizer + +[Mozilla/4.0 (compatible; MSIE ?.0; SaferSurf*)] +Parent=Proxy Servers +Browser=SaferSurf + +[Mozilla/5.0 (compatible; del.icio.us-thumbnails/*; *) KHTML/* (like Gecko)] +Parent=Proxy Servers +Browser=Yahoo! +isBanned=true +Crawler=true + +[Nutscrape] +Parent=Proxy Servers +Browser=Squid + +[Nutscrape/* (CP/M; 8-bit*)] +Parent=Proxy Servers +Browser=Squid + +[Privoxy/*] +Parent=Proxy Servers +Browser=Privoxy + +[ProxyTester*] +Parent=Proxy Servers +Browser=ProxyTester +isBanned=true +Crawler=true + +[SilentSurf*] +Parent=Proxy Servers +Browser=SilentSurf + +[SmallProxy*] +Parent=Proxy Servers +Browser=SmallProxy + +[Space*Bison/*] +Parent=Proxy Servers +Browser=Proxomitron + +[Sqworm/*] +Parent=Proxy Servers +Browser=Websense + +[SurfControl] +Parent=Proxy Servers +Browser=SurfControl + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Research Projects + +[Research Projects] +Parent=DefaultProperties +Browser=Research Projects +isBanned=true +Crawler=true + +[*research*] +Parent=Research Projects + +[AcadiaUniversityWebCensusClient] +Parent=Research Projects +Browser=AcadiaUniversityWebCensusClient + +[Amico Alpha * (*) Gecko/* AmicoAlpha/*] +Parent=Research Projects +Browser=Amico Alpha + +[annotate_google; http://ponderer.org/*] +Parent=Research Projects +Browser=Annotate Google + +[CMS crawler (?http://buytaert.net/crawler/)] +Parent=Research Projects + +[e-SocietyRobot(http://www.yama.info.waseda.ac.jp/~yamana/es/)] +Parent=Research Projects +Browser=e-SocietyRobot + +[Forschungsportal/*] +Parent=Research Projects +Browser=Forschungsportal + +[Gulper Web *] +Parent=Research Projects +Browser=Gulper Web Bot + +[HooWWWer/*] +Parent=Research Projects +Browser=HooWWWer + +[http://buytaert.net/crawler] +Parent=Research Projects + +[inetbot/* (?http://www.inetbot.com/bot.html)] +Parent=Research Projects +Browser=inetbot + +[IRLbot/*] +Parent=Research Projects +Browser=IRLbot + +[Lachesis] +Parent=Research Projects +Browser=Lachesis + +[Mozilla/5.0 (compatible; nextthing.org/*)] +Parent=Research Projects +Browser=nextthing.org +Version=1.0 +MajorVer=1 +MinorVer=0 + +[Mozilla/5.0 (compatible; Theophrastus/*)] +Parent=Research Projects +Browser=Theophrastus + +[Mozilla/5.0 (compatible; Webscan v0.*; http://otc.dyndns.org/webscan/)] +Parent=Research Projects +Browser=Webscan + +[MQbot*] +Parent=Research Projects +Browser=MQbot + +[OutfoxBot/*] +Parent=Research Projects +Browser=OutfoxBot + +[polybot?*] +Parent=Research Projects +Browser=Polybot + +[Shim?Crawler*] +Parent=Research Projects +Browser=Shim Crawler + +[Steeler/*] +Parent=Research Projects +Browser=Steeler + +[Taiga web spider] +Parent=Research Projects +Browser=Taiga + +[Theme Spider*] +Parent=Research Projects +Browser=Theme Spider + +[UofTDB_experiment* (leehyun@cs.toronto.edu)] +Parent=Research Projects +Browser=UofTDB Experiment + +[USyd-NLP-Spider*] +Parent=Research Projects +Browser=USyd-NLP-Spider + +[woriobot*] +Parent=Research Projects +Browser=woriobot + +[wwwster/* (Beta, mailto:gue@cis.uni-muenchen.de)] +Parent=Research Projects +Browser=wwwster +Beta=true + +[Zao-Crawler] +Parent=Research Projects +Browser=Zao-Crawler + +[Zao/*] +Parent=Research Projects +Browser=Zao + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Rippers + +[Rippers] +Parent=DefaultProperties +Browser=Rippers +Frames=true +IFrames=true +Tables=true +isBanned=true +Crawler=true + +[*grub*] +Parent=Rippers +Browser=grub + +[*ickHTTP*] +Parent=Rippers +Browser=IP*Works + +[*java*] +Parent=Rippers + +[*libwww-perl*] +Parent=Rippers +Browser=libwww-perl + +[*WebGrabber*] +Parent=Rippers + +[*WinHttpRequest*] +Parent=Rippers +Browser=WinHttp + +[3D-FTP/*] +Parent=Rippers +Browser=3D-FTP + +[3wGet/*] +Parent=Rippers +Browser=3wGet + +[ActiveRefresh*] +Parent=Rippers +Browser=ActiveRefresh + +[Artera (Version *)] +Parent=Rippers +Browser=Artera + +[AutoHotkey] +Parent=Rippers +Browser=AutoHotkey + +[b2w/*] +Parent=Rippers +Browser=b2w + +[BasicHTTP/*] +Parent=Rippers +Browser=BasicHTTP + +[BlockNote.Net] +Parent=Rippers +Browser=BlockNote.Net + +[CAST] +Parent=Rippers +Browser=CAST + +[CFNetwork/*] +Parent=Rippers +Browser=CFNetwork + +[CFSCHEDULE*] +Parent=Rippers +Browser=ColdFusion Task Scheduler + +[CobWeb/*] +Parent=Rippers +Browser=CobWeb + +[ColdFusion*] +Parent=Rippers +Browser=ColdFusion + +[Crawl_Application] +Parent=Rippers +Browser=Crawl_Application + +[curl/*] +Parent=Rippers +Browser=cURL + +[Custo*] +Parent=Rippers +Browser=Custo + +[DataCha0s/*] +Parent=Rippers +Browser=DataCha0s + +[DeepIndexer*] +Parent=Rippers +Browser=DeepIndexer + +[DISCo Pump *] +Parent=Rippers +Browser=DISCo Pump + +[eStyleSearch * (compatible; MSIE 6.0; Windows NT 5.0)] +Parent=Rippers +Browser=eStyleSearch +Win32=true + +[ezic.com http agent *] +Parent=Rippers +Browser=Ezic.com + +[fetch libfetch/*] +Parent=Rippers + +[FGet*] +Parent=Rippers +Browser=FGet + +[Flaming AttackBot*] +Parent=Rippers +Browser=Flaming AttackBot + +[Foobot*] +Parent=Rippers +Browser=Foobot + +[GameSpyHTTP/*] +Parent=Rippers +Browser=GameSpyHTTP + +[gnome-vfs/*] +Parent=Rippers +Browser=gnome-vfs + +[Harvest/*] +Parent=Rippers +Browser=Harvest + +[hcat/*] +Parent=Rippers +Browser=hcat + +[HLoader] +Parent=Rippers +Browser=HLoader + +[Holmes/*] +Parent=Rippers +Browser=Holmes + +[HTMLParser/*] +Parent=Rippers +Browser=HTMLParser + +[http generic] +Parent=Rippers +Browser=http generic + +[httpclient*] +Parent=Rippers + +[httperf/*] +Parent=Rippers +Browser=httperf + +[HTTPFetch/*] +Parent=Rippers +Browser=HTTPFetch + +[HTTPGrab] +Parent=Rippers +Browser=HTTPGrab + +[HttpSession] +Parent=Rippers +Browser=HttpSession + +[httpunit/*] +Parent=Rippers +Browser=HttpUnit + +[ICE_GetFile] +Parent=Rippers +Browser=ICE_GetFile + +[iexplore.exe] +Parent=Rippers + +[Inet - Eureka App] +Parent=Rippers +Browser=Inet - Eureka App + +[INetURL/*] +Parent=Rippers +Browser=INetURL + +[InetURL:/*] +Parent=Rippers +Browser=InetURL + +[Internet Exploiter/*] +Parent=Rippers + +[Internet Explore *] +Parent=Rippers +Browser=Fake IE + +[Internet Explorer *] +Parent=Rippers +Browser=Fake IE + +[IP*Works!*/*] +Parent=Rippers +Browser=IP*Works! + +[IrssiUrlLog/*] +Parent=Rippers +Browser=IrssiUrlLog + +[JPluck/*] +Parent=Rippers +Browser=JPluck + +[Kapere (http://www.kapere.com)] +Parent=Rippers +Browser=Kapere + +[LeechFTP] +Parent=Rippers +Browser=LeechFTP + +[LeechGet*] +Parent=Rippers +Browser=LeechGet + +[libcurl-agent/*] +Parent=Rippers +Browser=libcurl + +[libWeb/clsHTTP*] +Parent=Rippers +Browser=libWeb/clsHTTP + +[lwp*] +Parent=Rippers + +[MFC_Tear_Sample] +Parent=Rippers +Browser=MFC_Tear_Sample + +[Moozilla] +Parent=Rippers +Browser=Moozilla + +[MovableType/*] +Parent=Rippers +Browser=MovableType Web Log + +[Mozilla/2.0 (compatible; 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Site Monitors + +[Site Monitors] +Parent=DefaultProperties +Browser=Site Monitors +Cookies=true +isBanned=true +Crawler=true + +[*EasyRider*] +Parent=Site Monitors +Browser=EasyRider + +[*maxamine.com--robot*] +Parent=Site Monitors +Browser=maxamine.com--robot +isBanned=true + +[*WebMon ?.*] +Parent=Site Monitors +Browser=WebMon + +[Kenjin Spider*] +Parent=Site Monitors +Browser=Kenjin Spider + +[Kevin http://*] +Parent=Site Monitors +Browser=Kevin +isBanned=true + +[Mozilla/4.0 (compatible; ChangeDetection/*] +Parent=Site Monitors +Browser=ChangeDetection + +[Myst Monitor Service v*] +Parent=Site Monitors +Browser=Myst Monitor Service + +[Net Probe] +Parent=Site Monitors +Browser=Net Probe + +[NetMechanic*] +Parent=Site Monitors +Browser=NetMechanic + +[NetReality*] +Parent=Site Monitors +Browser=NetReality + +[Pingdom GIGRIB*] +Parent=Site Monitors +Browser=Pingdom + +[Site Valet Online*] +Parent=Site Monitors +Browser=Site Valet +isBanned=true + +[SITECHECKER] +Parent=Site Monitors +Browser=SITECHECKER + +[sitemonitor@dnsvr.com/*] +Parent=Site Monitors +Browser=ZoneEdit Failover Monitor +isBanned=false + +[UpTime Checker*] +Parent=Site Monitors +Browser=UpTime Checker + +[URL Control*] +Parent=Site Monitors +Browser=URL Control + +[URL_Access/*] +Parent=Site Monitors + +[URLCHECK] +Parent=Site Monitors +Browser=URLCHECK + +[URLy Warning*] +Parent=Site Monitors +Browser=URLy Warning + +[Webcheck *] +Parent=Site Monitors +Browser=Webcheck +Version=1.0 +MajorVer=1 +MinorVer=0 + +[WebPatrol/*] +Parent=Site Monitors +Browser=WebPatrol + +[websitepulse checker/*] +Parent=Site Monitors +Browser=websitepulse checker + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Social Bookmarkers + +[Social Bookmarkers] +Parent=DefaultProperties +Browser=Social Bookmarkers +Frames=true +Tables=true +Cookies=true +JavaScript=true + +[BookmarkBase(2/;http://bookmarkbase.com)] +Parent=Social Bookmarkers +Browser=BookmarkBase + +[Cocoal.icio.us/1.0 (v43) (Mac OS X; http://www.scifihifi.com/cocoalicious)] +Parent=Social Bookmarkers +Browser=Cocoalicious + +[Mozilla/5.0 (compatible; FriendFeedBot/0.*; Http://friendfeed.com/about/bot)] +Parent=Social Bookmarkers +Browser=FriendFeedBot + +[Twitturly*] +Parent=Social Bookmarkers +Browser=Twitturly + +[WinkBot/*] +Parent=Social Bookmarkers +Browser=WinkBot + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Translators + +[Translators] +Parent=DefaultProperties +Browser=Translators +Frames=true +Tables=true +Cookies=true + +[Seram Server] +Parent=Translators +Browser=Seram Server + +[TeragramWebcrawler/*] +Parent=Translators +Browser=TeragramWebcrawler +Version=1.0 +MajorVer=1 +MinorVer=0 + +[WebIndexer/* (Web Indexer; *)] +Parent=Translators +Browser=WorldLingo + +[WebTrans] +Parent=Translators +Browser=WebTrans + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Version Checkers + +[Version Checkers] +Parent=DefaultProperties +Browser=Version Checkers +Crawler=true + +[Automated Browscap.ini Updater. 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NameProtect + +[NameProtect] +Parent=DefaultProperties +Browser=NameProtect +isBanned=true +Crawler=true + +[abot/*] +Parent=NameProtect +Browser=NameProtect + +[NP/*] +Parent=NameProtect +Browser=NameProtect + +[NPBot*] +Parent=NameProtect +Browser=NameProtect + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Netcraft + +[Netcraft] +Parent=DefaultProperties +Browser=Netcraft +isBanned=true +Crawler=true + +[*Netcraft Web Server Survey*] +Parent=Netcraft +Browser=Netcraft Webserver Survey +isBanned=true + +[Mozilla/5.0 (compatible; NetcraftSurveyAgent/1.0; info@netcraft.com)] +Parent=Netcraft +Browser=NetcraftSurveyAgent + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; NewsGator + +[NewsGator] +Parent=DefaultProperties +Browser=NewsGator +isSyndicationReader=true + +[MarsEdit*] +Parent=NewsGator +Browser=MarsEdit + +[NetNewsWire*/*] +Parent=NewsGator +Browser=NetNewsWire +Platform=MacOSX + +[NewsFire/*] +Parent=NewsGator +Browser=NewsFire + +[NewsGator FetchLinks extension/*] +Parent=NewsGator +Browser=NewsGator FetchLinks + +[NewsGator/*] +Parent=NewsGator +Browser=NewsGator +isBanned=true + +[NewsGatorOnline/*] +Parent=NewsGator +Browser=NewsGatorOnline + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Chrome 0.2 + +[Chrome 0.2] +Parent=DefaultProperties +Browser=Chrome +Version=0.2 +MinorVer=2 +Beta=true +Win32=true +Frames=true +IFrames=true +Tables=true +Cookies=true +JavaApplets=true +JavaScript=true +CssVersion=3 +supportsCSS=true + +[Mozilla/5.0 (Windows; U; Windows NT 5.1; *) AppleWebKit/* (KHTML, like Gecko) Chrome/0.2.* Safari/*] +Parent=Chrome 0.2 +Platform=WinXP + +[Mozilla/5.0 (Windows; U; Windows NT 5.2; *) AppleWebKit/* (KHTML, like Gecko) Chrome/0.2.* Safari/*] +Parent=Chrome 0.2 +Platform=Win2003 + +[Mozilla/5.0 (Windows; U; Windows NT 6.0; *) AppleWebKit/* (KHTML, like Gecko) Chrome/0.2.* Safari/*] +Parent=Chrome 0.2 +Platform=WinVista + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Chrome 0.3 + +[Chrome 0.3] +Parent=DefaultProperties +Browser=Chrome +Version=0.3 +MinorVer=3 +Beta=true +Win32=true +Frames=true +IFrames=true +Tables=true +Cookies=true +JavaApplets=true +JavaScript=true +CssVersion=3 +supportsCSS=true + +[Mozilla/5.0 (Windows; U; Windows NT 5.1; *) AppleWebKit/* (KHTML, like Gecko) Chrome/0.3.* Safari/*] +Parent=Chrome 0.3 +Platform=WinXP + +[Mozilla/5.0 (Windows; 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U; Windows NT 7.0; *) AppleWebKit/* (KHTML, like Gecko) Chrome/2.0.* Safari/*] +Parent=Chrome 2.0 +Platform=Win7 + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Chrome 3.0 + +[Chrome 3.0] +Parent=DefaultProperties +Browser=Chrome +Version=3.0 +MajorVer=3 +Win32=true +Frames=true +IFrames=true +Tables=true +Cookies=true +JavaApplets=true +JavaScript=true +CssVersion=3 +supportsCSS=true + +[Mozilla/5.0 (Windows; U; Windows NT 5.1; *) AppleWebKit/* (KHTML, like Gecko) Chrome/3.0.* Safari/*] +Parent=Chrome 3.0 +Platform=WinXP + +[Mozilla/5.0 (Windows; U; Windows NT 5.2; *) AppleWebKit/* (KHTML, like Gecko) Chrome/3.0.* Safari/*] +Parent=Chrome 3.0 +Platform=Win2003 + +[Mozilla/5.0 (Windows; U; Windows NT 6.0; *) AppleWebKit/* (KHTML, like Gecko) Chrome/3.0.* Safari/*] +Parent=Chrome 3.0 +Platform=WinVista + +[Mozilla/5.0 (Windows; U; Windows NT 6.1; *) AppleWebKit/* (KHTML, like Gecko) Chrome/3.0.* Safari/*] +Parent=Chrome 3.0 +Platform=Win7 + +[Mozilla/5.0 (Windows; U; Windows NT 7.0; *) AppleWebKit/* (KHTML, like Gecko) Chrome/3.0.* Safari/*] +Parent=Chrome 3.0 +Platform=Win7 + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; 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00000000..c1d28630 --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/unity/apps/whac-a-mole-linux/build_Data/MonoBleedingEdge/etc/config @@ -0,0 +1,46 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/hci/user-in-the-box/uitb/tasks/unity/apps/whac-a-mole-linux/build_Data/MonoBleedingEdge/etc/mono/2.0/Browsers/Compat.browser b/hci/user-in-the-box/uitb/tasks/unity/apps/whac-a-mole-linux/build_Data/MonoBleedingEdge/etc/mono/2.0/Browsers/Compat.browser new file mode 100644 index 00000000..dcedf7f7 --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/unity/apps/whac-a-mole-linux/build_Data/MonoBleedingEdge/etc/mono/2.0/Browsers/Compat.browser @@ -0,0 +1,42 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/hci/user-in-the-box/uitb/tasks/unity/apps/whac-a-mole-linux/build_Data/MonoBleedingEdge/etc/mono/2.0/DefaultWsdlHelpGenerator.aspx b/hci/user-in-the-box/uitb/tasks/unity/apps/whac-a-mole-linux/build_Data/MonoBleedingEdge/etc/mono/2.0/DefaultWsdlHelpGenerator.aspx new file mode 100644 index 00000000..f4d74bff --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/unity/apps/whac-a-mole-linux/build_Data/MonoBleedingEdge/etc/mono/2.0/DefaultWsdlHelpGenerator.aspx @@ -0,0 +1,1901 @@ +<%-- +// +// DefaultWsdlHelpGenerator.aspx: +// +// Author: +// Lluis Sanchez Gual (lluis@ximian.com) +// +// (C) 2003 Ximian, Inc. http://www.ximian.com +// +--%> + +<%@ Import Namespace="System.Collections" %> +<%@ Import Namespace="System.Collections.Generic" %> +<%@ Import Namespace="System.IO" %> +<%@ Import Namespace="System.Xml.Serialization" %> +<%@ Import Namespace="System.Xml" %> +<%@ Import Namespace="System.Xml.Schema" %> +<%@ Import Namespace="System.Web.Services" %> +<%@ Import Namespace="System.Web.Services.Description" %> +<%@ Import Namespace="System.Web.Services.Configuration" %> +<%@ Import Namespace="System.Web.Configuration" %> +<%@ Import Namespace="System" %> +<%@ Import Namespace="System.Net" %> +<%@ Import Namespace="System.Globalization" %> +<%@ Import Namespace="System.Resources" %> +<%@ Import Namespace="System.Diagnostics" %> +<%@ Import Namespace="System.CodeDom" %> +<%@ Import Namespace="System.CodeDom.Compiler" %> +<%@ Import Namespace="Microsoft.CSharp" %> +<%@ Import Namespace="Microsoft.VisualBasic" %> +<%@ Import Namespace="System.Text" %> +<%@ Import Namespace="System.Text.RegularExpressions" %> +<%@ Import Namespace="System.Security.Cryptography.X509Certificates" %> +<%@ Assembly name="System.Web.Services" %> +<%@ Page debug="true" %> + + + + + + <% + Response.Write (""); + %> + <%=WebServiceName%> Web Service + + + + + + + +
+Web Service
+<%=WebServiceName%> +
+ + + + + + + + +
+
+Overview
+
+Service Description +
+Client proxy +

+ + + <%#FormatBindingName(DataBinder.Eval(Container.DataItem, "Name").ToString())%> + + + op=<%#GetOpName(Container.DataItem)%>&bnd=<%#DataBinder.Eval(Container.DataItem, "Binding.Name")%>"><%#GetOpName(Container.DataItem)%> +
+ + +
+ + + +		 + +<% if (CurrentPage == "main") {%> + + + +

Web Service Overview

+ <%=WebServiceDescription%> +

+ <% if (ProfileViolations != null && ProfileViolations.Count > 0) { %> +

Basic Profile Conformance

+ This web service does not conform to WS-I Basic Profile v1.1 + <% + Response.Write ("
    "); + foreach (BasicProfileViolation vio in ProfileViolations) { + Response.Write ("
  • " + vio.NormativeStatement + ": " + vio.Details); + Response.Write ("
      "); + foreach (string ele in vio.Elements) + Response.Write ("
    • " + ele + "
      • "); + Response.Write ("
    "); + Response.Write ("
    • "); + } + Response.Write ("
"); + }%> + +<%} if (DefaultBinding == null) {%> +This service does not contain any public web method. +<%} else if (CurrentPage == "op") {%> + + + + <%=CurrentOperationName%> +

+ <% WriteTabs (); %> +


+ + <% if (CurrentTab == "main") { %> + Input Parameters +
+ <% if (InParams.Count == 0) { %> + No input parameters
+ <% } else { %> + + + + + + + + + +
<%#DataBinder.Eval(Container.DataItem, "Name")%><%#DataBinder.Eval(Container.DataItem, "Type")%>
+ <% } %> +
+ + <% if (OutParams.Count > 0) { %> + Output Parameters +
+ + + + + + + + + +
<%#DataBinder.Eval(Container.DataItem, "Name")%><%#DataBinder.Eval(Container.DataItem, "Type")%>
+
+ <% } %> + + Remarks +
+ <%=OperationDocumentation%> +

+ Technical information +
+ Format: <%=CurrentOperationFormat%> +
Supported protocols: <%=CurrentOperationProtocols%> + <% } %> + + + + <% if (CurrentTab == "test") { + if (CurrentOperationSupportsTest) {%> + Enter values for the parameters and click the 'Invoke' button to test this method:

+
+ + + + + + + + + + + + + + + +
<%#DataBinder.Eval(Container.DataItem, "Name")%>: ">
 
+
+
"> + The web service returned the following result:

+
+
+ +
+ <% } else {%> + The test form is not available for this operation because it has parameters with a complex structure. + <% } %> + <% } %> + + + + <% if (CurrentTab == "msg") { %> + + The following are sample SOAP requests and responses for each protocol supported by this method: +

+ + <% if (IsOperationSupported ("Soap")) { %> + Soap +

+
<%=GenerateOperationMessages ("Soap", true)%>
+
+
<%=GenerateOperationMessages ("Soap", false)%>
+
+ <% } %> + <% if (IsOperationSupported ("HttpGet")) { %> + HTTP Get +

+
<%=GenerateOperationMessages ("HttpGet", true)%>
+
+
<%=GenerateOperationMessages ("HttpGet", false)%>
+
+ <% } %> + <% if (IsOperationSupported ("HttpPost")) { %> + HTTP Post +

+
<%=GenerateOperationMessages ("HttpPost", true)%>
+
+
<%=GenerateOperationMessages ("HttpPost", false)%>
+
+ <% } %> + + <% } %> +<%} else if (CurrentPage == "proxy") {%> + +
+ Select the language for which you want to generate a proxy +   + +    +
+
+ <%=CurrentProxytName%>    + Download +

+
+
<%=GetProxyCode ()%>
+
+<%} else if (CurrentPage == "wsdl") {%> + + <% if (descriptions.Count > 1 || schemas.Count > 1) {%> + The description of this web service is composed by several documents. Click on the document you want to see: + + + + <%} else {%> + <%}%> +
+ <%=CurrentDocumentName%>    + Download +

+
+
<%=GenerateDocument ()%>
+
+ +<%}%> + +














+
+ + diff --git a/hci/user-in-the-box/uitb/tasks/unity/apps/whac-a-mole-linux/build_Data/MonoBleedingEdge/etc/mono/2.0/machine.config b/hci/user-in-the-box/uitb/tasks/unity/apps/whac-a-mole-linux/build_Data/MonoBleedingEdge/etc/mono/2.0/machine.config new file mode 100644 index 00000000..2577c81d --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/unity/apps/whac-a-mole-linux/build_Data/MonoBleedingEdge/etc/mono/2.0/machine.config @@ -0,0 +1,280 @@ + + + + + +
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+Web Service
+<%=WebServiceName%> +
+ + + + + + + + +
+
+Overview
+
+Service Description +
+Client proxy +

+ + + <%#FormatBindingName(DataBinder.Eval(Container.DataItem, "Name").ToString())%> + + + op=<%#GetOpName(Container.DataItem)%>&bnd=<%#DataBinder.Eval(Container.DataItem, "Binding.Name")%>"><%#GetOpName(Container.DataItem)%> +
+ + +
+ + + +		 + +<% if (CurrentPage == "main") {%> + + + +

Web Service Overview

+ <%=WebServiceDescription%> +

+ <% if (ProfileViolations != null && ProfileViolations.Count > 0) { %> +

Basic Profile Conformance

+ This web service does not conform to WS-I Basic Profile v1.1 + <% + Response.Write ("
    "); + foreach (BasicProfileViolation vio in ProfileViolations) { + Response.Write ("
  • " + vio.NormativeStatement + ": " + vio.Details); + Response.Write ("
      "); + foreach (string ele in vio.Elements) + Response.Write ("
    • " + ele + "
      • "); + Response.Write ("
    "); + Response.Write ("
    • "); + } + Response.Write ("
"); + }%> + +<%} if (DefaultBinding == null) {%> +This service does not contain any public web method. +<%} else if (CurrentPage == "op") {%> + + + + <%=CurrentOperationName%> +

+ <% WriteTabs (); %> +


+ + <% if (CurrentTab == "main") { %> + Input Parameters +
+ <% if (InParams.Count == 0) { %> + No input parameters
+ <% } else { %> + + + + + + + + + +
<%#DataBinder.Eval(Container.DataItem, "Name")%><%#DataBinder.Eval(Container.DataItem, "Type")%>
+ <% } %> +
+ + <% if (OutParams.Count > 0) { %> + Output Parameters +
+ + + + + + + + + +
<%#DataBinder.Eval(Container.DataItem, "Name")%><%#DataBinder.Eval(Container.DataItem, "Type")%>
+
+ <% } %> + + Remarks +
+ <%=OperationDocumentation%> +

+ Technical information +
+ Format: <%=CurrentOperationFormat%> +
Supported protocols: <%=CurrentOperationProtocols%> + <% } %> + + + + <% if (CurrentTab == "test") { + if (CurrentOperationSupportsTest) {%> + Enter values for the parameters and click the 'Invoke' button to test this method:

+
+ + + + + + + + + + + + + + + +
<%#DataBinder.Eval(Container.DataItem, "Name")%>: ">
 
+
+
"> + The web service returned the following result:

+
+
+ +
+ <% } else {%> + The test form is not available for this operation because it has parameters with a complex structure. + <% } %> + <% } %> + + + + <% if (CurrentTab == "msg") { %> + + The following are sample SOAP requests and responses for each protocol supported by this method: +

+ + <% if (IsOperationSupported ("Soap")) { %> + Soap +

+
<%=GenerateOperationMessages ("Soap", true)%>
+
+
<%=GenerateOperationMessages ("Soap", false)%>
+
+ <% } %> + <% if (IsOperationSupported ("HttpGet")) { %> + HTTP Get +

+
<%=GenerateOperationMessages ("HttpGet", true)%>
+
+
<%=GenerateOperationMessages ("HttpGet", false)%>
+
+ <% } %> + <% if (IsOperationSupported ("HttpPost")) { %> + HTTP Post +

+
<%=GenerateOperationMessages ("HttpPost", true)%>
+
+
<%=GenerateOperationMessages ("HttpPost", false)%>
+
+ <% } %> + + <% } %> +<%} else if (CurrentPage == "proxy") {%> + +
+ Select the language for which you want to generate a proxy +   + +    +
+
+ <%=CurrentProxytName%>    + Download +

+
+
<%=GetProxyCode ()%>
+
+<%} else if (CurrentPage == "wsdl") {%> + + <% if (descriptions.Count > 1 || schemas.Count > 1) {%> + The description of this web service is composed by several documents. Click on the document you want to see: + + + + <%} else {%> + <%}%> +
+ <%=CurrentDocumentName%>    + Download +

+
+
<%=GenerateDocument ()%>
+
+ +<%}%> + +














+
+ + diff --git a/hci/user-in-the-box/uitb/tasks/unity/apps/whac-a-mole-linux/build_Data/MonoBleedingEdge/etc/mono/4.0/machine.config b/hci/user-in-the-box/uitb/tasks/unity/apps/whac-a-mole-linux/build_Data/MonoBleedingEdge/etc/mono/4.0/machine.config new file mode 100644 index 00000000..f3b71c43 --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/unity/apps/whac-a-mole-linux/build_Data/MonoBleedingEdge/etc/mono/4.0/machine.config @@ -0,0 +1,307 @@ + + + + + +
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+Web Service
+<%=WebServiceName%> +
+ + + + + + + + +
+
+Overview
+
+Service Description +
+Client proxy +

+ + + <%#FormatBindingName(DataBinder.Eval(Container.DataItem, "Name").ToString())%> + + + op=<%#GetOpName(Container.DataItem)%>&bnd=<%#DataBinder.Eval(Container.DataItem, "Binding.Name")%>"><%#GetOpName(Container.DataItem)%> +
+ + +
+ + + +		 + +<% if (CurrentPage == "main") {%> + + + +

Web Service Overview

+ <%=WebServiceDescription%> +

+ <% if (ProfileViolations != null && ProfileViolations.Count > 0) { %> +

Basic Profile Conformance

+ This web service does not conform to WS-I Basic Profile v1.1 + <% + Response.Write ("
    "); + foreach (BasicProfileViolation vio in ProfileViolations) { + Response.Write ("
  • " + vio.NormativeStatement + ": " + vio.Details); + Response.Write ("
      "); + foreach (string ele in vio.Elements) + Response.Write ("
    • " + ele + "
      • "); + Response.Write ("
    "); + Response.Write ("
    • "); + } + Response.Write ("
"); + }%> + +<%} if (DefaultBinding == null) {%> +This service does not contain any public web method. +<%} else if (CurrentPage == "op") {%> + + + + <%=CurrentOperationName%> +

+ <% WriteTabs (); %> +


+ + <% if (CurrentTab == "main") { %> + Input Parameters +
+ <% if (InParams.Count == 0) { %> + No input parameters
+ <% } else { %> + + + + + + + + + +
<%#DataBinder.Eval(Container.DataItem, "Name")%><%#DataBinder.Eval(Container.DataItem, "Type")%>
+ <% } %> +
+ + <% if (OutParams.Count > 0) { %> + Output Parameters +
+ + + + + + + + + +
<%#DataBinder.Eval(Container.DataItem, "Name")%><%#DataBinder.Eval(Container.DataItem, "Type")%>
+
+ <% } %> + + Remarks +
+ <%=OperationDocumentation%> +

+ Technical information +
+ Format: <%=CurrentOperationFormat%> +
Supported protocols: <%=CurrentOperationProtocols%> + <% } %> + + + + <% if (CurrentTab == "test") { + if (CurrentOperationSupportsTest) {%> + Enter values for the parameters and click the 'Invoke' button to test this method:

+
+ + + + + + + + + + + + + + + +
<%#DataBinder.Eval(Container.DataItem, "Name")%>: ">
 
+
+
"> + The web service returned the following result:

+
+
+ +
+ <% } else {%> + The test form is not available for this operation because it has parameters with a complex structure. + <% } %> + <% } %> + + + + <% if (CurrentTab == "msg") { %> + + The following are sample SOAP requests and responses for each protocol supported by this method: +

+ + <% if (IsOperationSupported ("Soap")) { %> + Soap +

+
<%=GenerateOperationMessages ("Soap", true)%>
+
+
<%=GenerateOperationMessages ("Soap", false)%>
+
+ <% } %> + <% if (IsOperationSupported ("HttpGet")) { %> + HTTP Get +

+
<%=GenerateOperationMessages ("HttpGet", true)%>
+
+
<%=GenerateOperationMessages ("HttpGet", false)%>
+
+ <% } %> + <% if (IsOperationSupported ("HttpPost")) { %> + HTTP Post +

+
<%=GenerateOperationMessages ("HttpPost", true)%>
+
+
<%=GenerateOperationMessages ("HttpPost", false)%>
+
+ <% } %> + + <% } %> +<%} else if (CurrentPage == "proxy") {%> + +
+ Select the language for which you want to generate a proxy +   + +    +
+
+ <%=CurrentProxytName%>    + Download +

+
+
<%=GetProxyCode ()%>
+
+<%} else if (CurrentPage == "wsdl") {%> + + <% if (descriptions.Count > 1 || schemas.Count > 1) {%> + The description of this web service is composed by several documents. Click on the document you want to see: + + + + <%} else {%> + <%}%> +
+ <%=CurrentDocumentName%>    + Download +

+
+
<%=GenerateDocument ()%>
+
+ +<%}%> + +














+
+ + diff --git a/hci/user-in-the-box/uitb/tasks/unity/apps/whac-a-mole-linux/build_Data/MonoBleedingEdge/etc/mono/4.5/machine.config b/hci/user-in-the-box/uitb/tasks/unity/apps/whac-a-mole-linux/build_Data/MonoBleedingEdge/etc/mono/4.5/machine.config new file mode 100644 index 00000000..45570953 --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/unity/apps/whac-a-mole-linux/build_Data/MonoBleedingEdge/etc/mono/4.5/machine.config @@ -0,0 +1,310 @@ + + + + + +
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Provided courtesy of http://browsers.garykeith.com +;;; Created on Wednesday, June 17, 2009 at 6:30 AM GMT + +[GJK_Browscap_Version] +Version=4476 +Released=Wed, 17 Jun 2009 06:30:21 -0000 + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; DefaultProperties + +[DefaultProperties] +Browser=DefaultProperties +Version=0 +MajorVer=0 +MinorVer=0 +Platform=unknown +Alpha=false +Beta=false +Win16=false +Win32=false +Win64=false +Frames=false +IFrames=false +Tables=false +Cookies=false +BackgroundSounds=false +CDF=false +VBScript=false +JavaApplets=false +JavaScript=false +ActiveXControls=false +isBanned=false +isMobileDevice=false +isSyndicationReader=false +Crawler=false +CssVersion=0 +supportsCSS=false +AOL=false +aolVersion=0 +ECMAScriptVersion=0.0 +W3CDOMVersion=0.0 + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Ask + +[Ask] +Parent=DefaultProperties +Browser=Ask +Frames=true +Tables=true +Crawler=true + +[Mozilla/?.0 (compatible; Ask Jeeves/Teoma*)] +Parent=Ask +Browser=Teoma + +[Mozilla/2.0 (compatible; Ask Jeeves)] +Parent=Ask +Browser=AskJeeves + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Baidu + +[Baidu] +Parent=DefaultProperties +Browser=Baidu +Frames=true +Tables=true +Crawler=true + +[BaiduImageSpider*] +Parent=Baidu +Browser=BaiduImageSpider + +[Baiduspider*] +Parent=Baidu +Browser=BaiDu + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Google + +[Google] +Parent=DefaultProperties +Browser=Google +Frames=true +IFrames=true +Tables=true +JavaScript=true +Crawler=true + +[* (compatible; Googlebot-Mobile/2.1; *http://www.google.com/bot.html)] +Parent=Google +Browser=Googlebot-Mobile +Frames=false +IFrames=false +Tables=false + +[*Google Wireless Transcoder*] +Parent=Google +Browser=Google Wireless Transcoder + +[AdsBot-Google (?http://www.google.com/adsbot.html)] +Parent=Google +Browser=AdsBot-Google + +[Feedfetcher-Google-iGoogleGadgets;*] +Parent=Google +Browser=iGoogleGadgets +isBanned=true +isSyndicationReader=true + +[Feedfetcher-Google;*] +Parent=Google +Browser=Feedfetcher-Google +isBanned=true +isSyndicationReader=true + +[Google OpenSocial agent (http://www.google.com/feedfetcher.html)] +Parent=Google +Browser=Google OpenSocial + +[Google-Site-Verification/1.0] +Parent=Google +Browser=Google-Site-Verification + +[Google-Sitemaps/*] +Parent=Google +Browser=Google-Sitemaps + +[Googlebot-Image/*] +Parent=Google +Browser=Googlebot-Image +CDF=true + +[googlebot-urlconsole] +Parent=Google +Browser=googlebot-urlconsole + +[Googlebot-Video/1.0] +Parent=Google +Browser=Google-Video + +[Googlebot/2.1 (?http://www.google.com/bot.html)] +Parent=Google +Browser=Googlebot + +[Googlebot/2.1 (?http://www.googlebot.com/bot.html)] +Parent=Google +Browser=Googlebot + +[Googlebot/Test*] +Parent=Google +Browser=Googlebot/Test + +[gsa-crawler*] +Parent=Google +Browser=Google Search Appliance +isBanned=true + +[Mediapartners-Google*] +Parent=Google +Browser=Mediapartners-Google + +[Mozilla/4.0 (compatible; Google Desktop)] +Parent=Google +Browser=Google Desktop + +[Mozilla/4.0 (compatible; GoogleToolbar*)] +Parent=Google +Browser=Google Toolbar +isBanned=true + +[Mozilla/5.0 (compatible; Google Keyword Tool;*)] +Parent=Google +Browser=Google Keyword Tool + +[Mozilla/5.0 (compatible; Googlebot/2.1; ?http://www.google.com/bot.html)] +Parent=Google +Browser=Google Webmaster Tools + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Inktomi + +[Inktomi] +Parent=DefaultProperties +Browser=Inktomi +Frames=true +Tables=true +Crawler=true + +[* (compatible;YahooSeeker/M1A1-R2D2; *)] +Parent=Inktomi +Browser=YahooSeeker-Mobile +Frames=false +Tables=false + +[Mozilla/4.0] +Parent=Inktomi + +[Mozilla/4.0 (compatible; MSIE 5.0; Windows NT)] +Parent=Inktomi +Win32=true + +[Mozilla/4.0 (compatible; Yahoo Japan; for robot study; kasugiya)] +Parent=Inktomi +Browser=Yahoo! RobotStudy +isBanned=true + +[Mozilla/5.0 (compatible; BMC/1.0 (Y!J-AGENT))] +Parent=Inktomi +Browser=Y!J-AGENT/BMC + +[Mozilla/5.0 (compatible; BMF/1.0 (Y!J-AGENT))] +Parent=Inktomi +Browser=Y!J-AGENT/BMF + +[Mozilla/5.0 (compatible; BMI/1.0 (Y!J-AGENT; 1.0))] +Parent=Inktomi +Browser=Y!J-AGENT/BMI + +[Mozilla/5.0 (compatible; Yahoo! DE Slurp; http://help.yahoo.com/help/us/ysearch/slurp)] +Parent=Inktomi +Browser=Yahoo! Directory Engine + +[Mozilla/5.0 (compatible; Yahoo! Slurp China; http://misc.yahoo.com.cn/help.html)] +Parent=Inktomi +Browser=Yahoo! Slurp China + +[Mozilla/5.0 (compatible; Yahoo! Slurp/3.0; http://help.yahoo.com/help/us/ysearch/slurp)] +Parent=Inktomi +Browser=Yahoo! Slurp +Version=3.0 +MajorVer=3 +MinorVer=0 + +[Mozilla/5.0 (compatible; Yahoo! Slurp; http://help.yahoo.com/help/us/ysearch/slurp)] +Parent=Inktomi +Browser=Yahoo! Slurp + +[Mozilla/5.0 (compatible; Yahoo! Verifier/1.1)] +Parent=Inktomi +Browser=Yahoo! Verifier +Version=1.1 +MajorVer=1 +MinorVer=1 + +[Mozilla/5.0 (Slurp/cat; slurp@inktomi.com; http://www.inktomi.com/slurp.html)] +Parent=Inktomi +Browser=Slurp/cat + +[Mozilla/5.0 (Slurp/si; slurp@inktomi.com; http://www.inktomi.com/slurp.html)] +Parent=Inktomi + +[Mozilla/5.0 (Yahoo-MMCrawler/4.0; mailto:vertical-crawl-support@yahoo-inc.com)] +Parent=Inktomi +Browser=Yahoo-MMCrawler +Version=4.0 +MajorVer=4 +MinorVer=0 + +[Scooter/*] +Parent=Inktomi +Browser=Scooter + +[Scooter/3.3Y!CrawlX] +Parent=Inktomi +Browser=Scooter/3.3Y!CrawlX +Version=3.3 +MajorVer=3 +MinorVer=3 + +[slurp] +Parent=Inktomi +Browser=slurp + +[Y!J-BSC/1.0*] +Parent=Inktomi +Browser=Y!J-BSC +Version=1.0 +MajorVer=1 +MinorVer=0 +isBanned=true + +[Y!J-SRD/1.0] +Parent=Inktomi +Browser=Y!J-SRD +Version=1.0 +MajorVer=1 +MinorVer=0 + +[Yahoo Mindset] +Parent=Inktomi +Browser=Yahoo Mindset + +[Yahoo Pipes*] +Parent=Inktomi +Browser=Yahoo Pipes + +[Yahoo! Mindset] +Parent=Inktomi +Browser=Yahoo! Mindset + +[Yahoo! Slurp/Site Explorer] +Parent=Inktomi +Browser=Yahoo! 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Validation Checkers + +[HTML Validators] +Parent=DefaultProperties +Browser=HTML Validators +Frames=true +IFrames=true +Tables=true +Crawler=true + +[(HTML Validator http://www.searchengineworld.com/validator/)] +Parent=HTML Validators +Browser=Search Engine World HTML Validator + +[FeedValidator/1.3] +Parent=HTML Validators +Browser=FeedValidator +Version=1.3 +MajorVer=1 +MinorVer=3 + +[Jigsaw/* W3C_CSS_Validator_JFouffa/*] +Parent=HTML Validators +Browser=Jigsaw CSS Validator + +[Search Engine World Robots.txt Validator*] +Parent=HTML Validators +Browser=Search Engine World Robots.txt Validator + +[W3C_Validator/*] +Parent=HTML Validators +Browser=W3C Validator + +[W3CLineMode/*] +Parent=HTML Validators +Browser=W3C Line Mode + +[Weblide/2.? beta*] +Parent=HTML Validators +Browser=Weblide +Version=2.0 +MajorVer=2 +MinorVer=0 +Beta=true + +[WebmasterWorld StickyMail Server Header Checker*] +Parent=HTML Validators +Browser=WebmasterWorld Server Header Checker + +[WWWC/*] +Parent=HTML Validators + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Image Crawlers + +[Image Crawlers] +Parent=DefaultProperties +Browser=Image Crawlers +Frames=true +IFrames=true +Tables=true +isBanned=true +Crawler=true + +[*CFNetwork*] +Parent=Image Crawlers +Browser=CFNetwork + +[*PhotoStickies/*] +Parent=Image Crawlers +Browser=PhotoStickies + +[Camcrawler*] +Parent=Image Crawlers +Browser=Camcrawler + +[CydralSpider/*] +Parent=Image Crawlers +Browser=Cydral Web Image Search +isBanned=true + +[Der gro\xdfe BilderSauger*] +Parent=Image Crawlers +Browser=Gallery Grabber + +[Extreme Picture Finder] +Parent=Image Crawlers +Browser=Extreme Picture Finder + +[FLATARTS_FAVICO] +Parent=Image Crawlers +Browser=FlatArts Favorites Icon Tool + +[HTML2JPG Blackbox, http://www.html2jpg.com] +Parent=Image Crawlers +Browser=HTML2JPG + +[IconSurf/2.*] +Parent=Image Crawlers +Browser=IconSurf + +[kalooga/KaloogaBot*] +Parent=Image Crawlers +Browser=KaloogaBot + +[Mister PIX*] +Parent=Image Crawlers +Browser=Mister PIX + +[Mozilla/5.0 (Macintosh; U; *Mac OS X; *) AppleWebKit/* (*) Pandora/2.*] +Parent=Image Crawlers +Browser=Pandora + +[naoFavicon4IE*] +Parent=Image Crawlers +Browser=naoFavicon4IE + +[pixfinder/*] +Parent=Image Crawlers +Browser=pixfinder + +[rssImagesBot/0.1 (*http://herbert.groot.jebbink.nl/?app=rssImages)] +Parent=Image Crawlers +Browser=rssImagesBot + +[Web Image Collector*] +Parent=Image Crawlers +Browser=Web Image Collector + +[WebImages * (?http://herbert.groot.jebbink.nl/?app=WebImages?)] +Parent=Image Crawlers +Browser=WebImages + +[WebPix*] +Parent=Image Crawlers +Browser=Custo + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Link Checkers + +[Link Checkers] +Parent=DefaultProperties +Browser=Link Checkers +Frames=true +IFrames=true +Tables=true +Crawler=true + +[!Susie (http://www.sync2it.com/susie)] +Parent=Link Checkers +Browser=!Susie + +[*AgentName/*] +Parent=Link Checkers +Browser=AgentName + +[*Linkman*] +Parent=Link Checkers +Browser=Linkman + +[*LinksManager.com*] +Parent=Link Checkers +Browser=LinksManager + +[*Powermarks/*] +Parent=Link Checkers +Browser=Powermarks + +[*W3C-checklink/*] +Parent=Link Checkers +Browser=W3C Link Checker + +[*Web Link Validator*] +Parent=Link Checkers +Browser=Web Link Validator + +[*Zeus*] +Parent=Link Checkers +Browser=Zeus +isBanned=true + +[ActiveBookmark *] +Parent=Link Checkers +Browser=ActiveBookmark + +[Bookdog/*] +Parent=Link Checkers +Browser=Bookdog + +[Bookmark Buddy*] +Parent=Link Checkers +Browser=Bookmark Buddy + +[Bookmark Renewal Check Agent*] +Parent=Link Checkers +Browser=Bookmark Renewal Check Agent + +[Bookmark search tool*] +Parent=Link Checkers +Browser=Bookmark search tool + +[Bookmark-Manager] +Parent=Link Checkers +Browser=Bookmark-Manager + +[Checkbot*] +Parent=Link Checkers +Browser=Checkbot + +[CheckLinks/*] +Parent=Link Checkers +Browser=CheckLinks + +[CyberSpyder Link Test/*] +Parent=Link Checkers +Browser=CyberSpyder Link Test + +[DLC/*] +Parent=Link Checkers +Browser=DLC + +[DocWeb Link Crawler (http://doc.php.net)] +Parent=Link Checkers +Browser=DocWeb Link Crawler + +[FavOrg] +Parent=Link Checkers +Browser=FavOrg + +[Favorites Sweeper v.3.*] +Parent=Link Checkers +Browser=Favorites Sweeper + +[FindLinks/*] +Parent=Link Checkers +Browser=FindLinks + +[Funnel Web Profiler*] +Parent=Link Checkers +Browser=Funnel Web Profiler + +[Html Link Validator (www.lithopssoft.com)] +Parent=Link Checkers +Browser=HTML Link Validator + +[IECheck] +Parent=Link Checkers +Browser=IECheck + +[JCheckLinks/*] +Parent=Link Checkers +Browser=JCheckLinks + +[JRTwine Software Check Favorites Utility] +Parent=Link Checkers +Browser=JRTwine + +[Link Valet Online*] +Parent=Link Checkers +Browser=Link Valet +isBanned=true + +[LinkAlarm/*] +Parent=Link Checkers +Browser=LinkAlarm + +[Linkbot*] +Parent=Link Checkers +Browser=Linkbot + +[LinkChecker/*] +Parent=Link Checkers +Browser=LinkChecker + +[LinkextractorPro*] +Parent=Link Checkers +Browser=LinkextractorPro +isBanned=true + +[LinkLint-checkonly/*] +Parent=Link Checkers +Browser=LinkLint + +[LinkScan/*] +Parent=Link Checkers +Browser=LinkScan + +[LinkSweeper/*] +Parent=Link Checkers +Browser=LinkSweeper + +[LinkWalker*] +Parent=Link Checkers +Browser=LinkWalker + +[MetaGer-LinkChecker] +Parent=Link Checkers +Browser=MetaGer-LinkChecker + +[Mozilla/* (compatible; linktiger/*; *http://www.linktiger.com*)] +Parent=Link Checkers +Browser=LinkTiger +isBanned=true + +[Mozilla/4.0 (Compatible); URLBase*] +Parent=Link Checkers +Browser=URLBase + +[Mozilla/4.0 (compatible; Link Utility; http://net-promoter.com)] +Parent=Link Checkers +Browser=NetPromoter Link Utility + +[Mozilla/4.0 (compatible; MSIE 6.0; Windows 98) Web Link Validator*] +Parent=Link Checkers +Browser=Web Link Validator +Win32=true + +[Mozilla/4.0 (compatible; MSIE 7.0; Win32) Link Commander 3.0] +Parent=Link Checkers +Browser=Link Commander +Version=3.0 +MajorVer=3 +MinorVer=0 +Platform=Win32 + +[Mozilla/4.0 (compatible; smartBot/1.*; checking links; *)] +Parent=Link Checkers +Browser=smartBot + +[Mozilla/4.0 (compatible; SuperCleaner*;*)] +Parent=Link Checkers +Browser=SuperCleaner + +[Mozilla/5.0 gURLChecker/*] +Parent=Link Checkers +Browser=gURLChecker +isBanned=true + +[Newsgroupreporter LinkCheck] +Parent=Link Checkers +Browser=Newsgroupreporter LinkCheck + +[onCHECK Linkchecker von www.scientec.de fuer www.onsinn.de] +Parent=Link Checkers +Browser=onCHECK Linkchecker + +[online link validator (http://www.dead-links.com/)] +Parent=Link Checkers +Browser=Dead-Links.com +isBanned=true + +[REL Link Checker*] +Parent=Link Checkers +Browser=REL Link Checker + +[RLinkCheker*] +Parent=Link Checkers +Browser=RLinkCheker + +[Robozilla/*] +Parent=Link Checkers +Browser=Robozilla + +[RPT-HTTPClient/*] +Parent=Link Checkers +Browser=RPT-HTTPClient +isBanned=true + +[SafariBookmarkChecker*(?http://www.coriolis.ch/)] +Parent=Link Checkers +Browser=SafariBookmarkChecker +Platform=MacOSX +CssVersion=2 +supportsCSS=true + +[Simpy/* (Simpy; http://www.simpy.com/?ref=bot; feedback at simpy dot com)] +Parent=Link Checkers +Browser=Simpy + +[SiteBar/*] +Parent=Link Checkers +Browser=SiteBar + +[Susie (http://www.sync2it.com/bms/susie.php] +Parent=Link Checkers +Browser=Susie + +[URLBase/6.*] +Parent=Link Checkers + +[VSE/*] +Parent=Link Checkers +Browser=VSE Link Tester + +[WebTrends Link Analyzer] +Parent=Link Checkers +Browser=WebTrends Link Analyzer + +[WorQmada/*] +Parent=Link Checkers +Browser=WorQmada + +[Xenu* Link Sleuth*] +Parent=Link Checkers +Browser=Xenu's Link Sleuth +isBanned=true + +[Z-Add Link Checker*] +Parent=Link Checkers +Browser=Z-Add Link Checker + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Microsoft + +[Microsoft] +Parent=DefaultProperties +Browser=Microsoft +isBanned=true + +[Live (http://www.live.com/)] +Parent=Microsoft +Browser=Microsoft Live +isBanned=false +isSyndicationReader=true + +[MFC Foundation Class Library*] +Parent=Microsoft +Browser=MFC Foundation Class Library + +[MFHttpScan] +Parent=Microsoft +Browser=MFHttpScan + +[Microsoft BITS/*] +Parent=Microsoft +Browser=BITS + +[Microsoft Data Access Internet Publishing Provider Cache Manager] +Parent=Microsoft +Browser=MS IPP + +[Microsoft Data Access Internet Publishing Provider DAV*] +Parent=Microsoft +Browser=MS IPP DAV + +[Microsoft Data Access Internet Publishing Provider Protocol Discovery] +Parent=Microsoft +Browser=MS IPPPD + +[Microsoft Internet Explorer] +Parent=Microsoft +Browser=Fake IE + +[Microsoft Office Existence Discovery] +Parent=Microsoft +Browser=Microsoft Office Existence Discovery + +[Microsoft Office Protocol Discovery] +Parent=Microsoft +Browser=MS OPD + +[Microsoft Office/* (*Picture Manager*)] +Parent=Microsoft +Browser=Microsoft Office Picture Manager + +[Microsoft URL Control*] +Parent=Microsoft +Browser=Microsoft URL Control + +[Microsoft Visio MSIE] +Parent=Microsoft +Browser=Microsoft Visio + +[Microsoft-WebDAV-MiniRedir/*] +Parent=Microsoft +Browser=Microsoft-WebDAV + +[Mozilla/5.0 (Macintosh; Intel Mac OS X) Excel/12.*] +Parent=Microsoft +Browser=Microsoft Excel +Version=12.0 +MajorVer=12 +MinorVer=0 +Platform=MacOSX + +[MSN Feed Manager] +Parent=Microsoft +Browser=MSN Feed Manager +isBanned=false +isSyndicationReader=true + +[MSProxy/*] +Parent=Microsoft +Browser=MS Proxy + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Miscellaneous Browsers + +[Miscellaneous Browsers] +Parent=DefaultProperties +Browser=Miscellaneous Browsers +Frames=true +Tables=true +Cookies=true + +[*Amiga*] +Parent=Miscellaneous Browsers +Browser=Amiga +Platform=Amiga + +[*avantbrowser*] +Parent=Miscellaneous Browsers +Browser=Avant Browser + +[12345] +Parent=Miscellaneous Browsers +Browser=12345 +isBanned=true + +[Ace Explorer] +Parent=Miscellaneous Browsers +Browser=Ace Explorer + +[Enigma Browser*] +Parent=Miscellaneous Browsers +Browser=Enigma Browser + +[EVE-minibrowser/*] +Parent=Miscellaneous Browsers +Browser=EVE-minibrowser +IFrames=false +Tables=false +BackgroundSounds=false +VBScript=false +JavaApplets=false +JavaScript=false +ActiveXControls=false +isBanned=false +Crawler=false + +[Godzilla/* (Basic*; *; Commodore C=64; *; rv:1.*)*] +Parent=Miscellaneous Browsers +Browser=Godzilla + +[GreenBrowser] +Parent=Miscellaneous Browsers +Browser=GreenBrowser +Frames=true +IFrames=true +Tables=true +Cookies=true +BackgroundSounds=true +VBScript=true +JavaApplets=true +JavaScript=true +ActiveXControls=true +CssVersion=2 +supportsCSS=true + +[Kopiczek/* (WyderOS*; *)] +Parent=Miscellaneous Browsers +Browser=Kopiczek +Platform=WyderOS +IFrames=true +JavaApplets=true +JavaScript=true +CssVersion=2 +supportsCSS=true + +[Mozilla/* (*) - BrowseX (*)] +Parent=Miscellaneous Browsers +Browser=BrowseX + +[Mozilla/* (Win32;*Escape?*; ?)] +Parent=Miscellaneous Browsers +Browser=Escape +Platform=Win32 + +[Mozilla/4.0 (compatible; ibisBrowser)] +Parent=Miscellaneous Browsers +Browser=ibisBrowser + +[Mozilla/5.0 (Macintosh; ?; PPC Mac OS X;*) AppleWebKit/* (*) HistoryHound/*] +Parent=Miscellaneous Browsers +Browser=HistoryHound + +[NetRecorder*] +Parent=Miscellaneous Browsers +Browser=NetRecorder + +[NetSurfer*] +Parent=Miscellaneous Browsers +Browser=NetSurfer + +[ogeb browser , Version 1.1.0] +Parent=Miscellaneous Browsers +Browser=ogeb browser +Version=1.1 +MajorVer=1 +MinorVer=1 + +[SCEJ PSP BROWSER 0102pspNavigator] +Parent=Miscellaneous Browsers +Browser=Wipeout Pure + +[SlimBrowser] +Parent=Miscellaneous Browsers +Browser=SlimBrowser + +[WWW_Browser/*] +Parent=Miscellaneous Browsers +Browser=WWW Browser +Version=1.69 +MajorVer=1 +MinorVer=69 +Platform=Win16 +CssVersion=3 +supportsCSS=true + +[*Netcraft Webserver Survey*] +Parent=Netcraft +Browser=Netcraft Webserver Survey +isBanned=true + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Offline Browsers + +[Offline Browsers] +Parent=DefaultProperties +Browser=Offline Browsers +Frames=true +Tables=true +Cookies=true +isBanned=true +Crawler=true + +[*Check&Get*] +Parent=Offline Browsers +Browser=Check&Get + +[*HTTrack*] +Parent=Offline Browsers +Browser=HTTrack + +[*MSIECrawler*] +Parent=Offline Browsers +Browser=IE Offline Browser + +[*TweakMASTER*] +Parent=Offline Browsers +Browser=TweakMASTER + +[BackStreet Browser *] +Parent=Offline Browsers +Browser=BackStreet Browser + +[Go-Ahead-Got-It*] +Parent=Offline Browsers +Browser=Go Ahead Got-It + +[iGetter/*] +Parent=Offline Browsers +Browser=iGetter + +[Teleport*] +Parent=Offline Browsers +Browser=Teleport + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Online Scanners + +[Online Scanners] +Parent=DefaultProperties +Browser=Online Scanners +isBanned=true + +[JoeDog/* (X11; I; Siege *)] +Parent=Online Scanners +Browser=JoeDog +isBanned=false + +[Morfeus Fucking Scanner] +Parent=Online Scanners +Browser=Morfeus Fucking Scanner + +[Mozilla/4.0 (compatible; Trend Micro tmdr 1.*] +Parent=Online Scanners +Browser=Trend Micro + +[Titanium 2005 (4.02.01)] +Parent=Online Scanners +Browser=Panda Antivirus Titanium + +[virus_detector*] +Parent=Online Scanners +Browser=Secure Computing Corporation + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Proxy Servers + +[Proxy Servers] +Parent=DefaultProperties +Browser=Proxy Servers +isBanned=true + +[*squid*] +Parent=Proxy Servers +Browser=Squid + +[Anonymisiert*] +Parent=Proxy Servers +Browser=Anonymizied + +[Anonymizer/*] +Parent=Proxy Servers +Browser=Anonymizer + +[Anonymizied*] +Parent=Proxy Servers +Browser=Anonymizied + +[Anonymous*] +Parent=Proxy Servers +Browser=Anonymous + +[Anonymous/*] +Parent=Proxy Servers +Browser=Anonymous + +[CE-Preload] +Parent=Proxy Servers +Browser=CE-Preload + +[http://Anonymouse.org/*] +Parent=Proxy Servers +Browser=Anonymouse + +[IE/6.01 (CP/M; 8-bit*)] +Parent=Proxy Servers +Browser=Squid + +[Mozilla/* (TuringOS; Turing Machine; 0.0)] +Parent=Proxy Servers +Browser=Anonymizer + +[Mozilla/4.0 (compatible; MSIE ?.0; SaferSurf*)] +Parent=Proxy Servers +Browser=SaferSurf + +[Mozilla/5.0 (compatible; del.icio.us-thumbnails/*; *) KHTML/* (like Gecko)] +Parent=Proxy Servers +Browser=Yahoo! +isBanned=true +Crawler=true + +[Nutscrape] +Parent=Proxy Servers +Browser=Squid + +[Nutscrape/* (CP/M; 8-bit*)] +Parent=Proxy Servers +Browser=Squid + +[Privoxy/*] +Parent=Proxy Servers +Browser=Privoxy + +[ProxyTester*] +Parent=Proxy Servers +Browser=ProxyTester +isBanned=true +Crawler=true + +[SilentSurf*] +Parent=Proxy Servers +Browser=SilentSurf + +[SmallProxy*] +Parent=Proxy Servers +Browser=SmallProxy + +[Space*Bison/*] +Parent=Proxy Servers +Browser=Proxomitron + +[Sqworm/*] +Parent=Proxy Servers +Browser=Websense + +[SurfControl] +Parent=Proxy Servers +Browser=SurfControl + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Research Projects + +[Research Projects] +Parent=DefaultProperties +Browser=Research Projects +isBanned=true +Crawler=true + +[*research*] +Parent=Research Projects + +[AcadiaUniversityWebCensusClient] +Parent=Research Projects +Browser=AcadiaUniversityWebCensusClient + +[Amico Alpha * (*) Gecko/* AmicoAlpha/*] +Parent=Research Projects +Browser=Amico Alpha + +[annotate_google; http://ponderer.org/*] +Parent=Research Projects +Browser=Annotate Google + +[CMS crawler (?http://buytaert.net/crawler/)] +Parent=Research Projects + +[e-SocietyRobot(http://www.yama.info.waseda.ac.jp/~yamana/es/)] +Parent=Research Projects +Browser=e-SocietyRobot + +[Forschungsportal/*] +Parent=Research Projects +Browser=Forschungsportal + +[Gulper Web *] +Parent=Research Projects +Browser=Gulper Web Bot + +[HooWWWer/*] +Parent=Research Projects +Browser=HooWWWer + +[http://buytaert.net/crawler] +Parent=Research Projects + +[inetbot/* (?http://www.inetbot.com/bot.html)] +Parent=Research Projects +Browser=inetbot + +[IRLbot/*] +Parent=Research Projects +Browser=IRLbot + +[Lachesis] +Parent=Research Projects +Browser=Lachesis + +[Mozilla/5.0 (compatible; nextthing.org/*)] +Parent=Research Projects +Browser=nextthing.org +Version=1.0 +MajorVer=1 +MinorVer=0 + +[Mozilla/5.0 (compatible; Theophrastus/*)] +Parent=Research Projects +Browser=Theophrastus + +[Mozilla/5.0 (compatible; Webscan v0.*; http://otc.dyndns.org/webscan/)] +Parent=Research Projects +Browser=Webscan + +[MQbot*] +Parent=Research Projects +Browser=MQbot + +[OutfoxBot/*] +Parent=Research Projects +Browser=OutfoxBot + +[polybot?*] +Parent=Research Projects +Browser=Polybot + +[Shim?Crawler*] +Parent=Research Projects +Browser=Shim Crawler + +[Steeler/*] +Parent=Research Projects +Browser=Steeler + +[Taiga web spider] +Parent=Research Projects +Browser=Taiga + +[Theme Spider*] +Parent=Research Projects +Browser=Theme Spider + +[UofTDB_experiment* (leehyun@cs.toronto.edu)] +Parent=Research Projects +Browser=UofTDB Experiment + +[USyd-NLP-Spider*] +Parent=Research Projects +Browser=USyd-NLP-Spider + +[woriobot*] +Parent=Research Projects +Browser=woriobot + +[wwwster/* (Beta, mailto:gue@cis.uni-muenchen.de)] +Parent=Research Projects +Browser=wwwster +Beta=true + +[Zao-Crawler] +Parent=Research Projects +Browser=Zao-Crawler + +[Zao/*] +Parent=Research Projects +Browser=Zao + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Rippers + +[Rippers] +Parent=DefaultProperties +Browser=Rippers +Frames=true +IFrames=true +Tables=true +isBanned=true +Crawler=true + +[*grub*] +Parent=Rippers +Browser=grub + +[*ickHTTP*] +Parent=Rippers +Browser=IP*Works + +[*java*] +Parent=Rippers + +[*libwww-perl*] +Parent=Rippers +Browser=libwww-perl + +[*WebGrabber*] +Parent=Rippers + +[*WinHttpRequest*] +Parent=Rippers +Browser=WinHttp + +[3D-FTP/*] +Parent=Rippers +Browser=3D-FTP + +[3wGet/*] +Parent=Rippers +Browser=3wGet + +[ActiveRefresh*] +Parent=Rippers +Browser=ActiveRefresh + +[Artera (Version *)] +Parent=Rippers +Browser=Artera + +[AutoHotkey] +Parent=Rippers +Browser=AutoHotkey + +[b2w/*] +Parent=Rippers +Browser=b2w + +[BasicHTTP/*] +Parent=Rippers +Browser=BasicHTTP + +[BlockNote.Net] +Parent=Rippers +Browser=BlockNote.Net + +[CAST] +Parent=Rippers +Browser=CAST + +[CFNetwork/*] +Parent=Rippers +Browser=CFNetwork + +[CFSCHEDULE*] +Parent=Rippers +Browser=ColdFusion Task Scheduler + +[CobWeb/*] +Parent=Rippers +Browser=CobWeb + +[ColdFusion*] +Parent=Rippers +Browser=ColdFusion + +[Crawl_Application] +Parent=Rippers +Browser=Crawl_Application + +[curl/*] +Parent=Rippers +Browser=cURL + +[Custo*] +Parent=Rippers +Browser=Custo + +[DataCha0s/*] +Parent=Rippers +Browser=DataCha0s + +[DeepIndexer*] +Parent=Rippers +Browser=DeepIndexer + +[DISCo Pump *] +Parent=Rippers +Browser=DISCo Pump + +[eStyleSearch * (compatible; MSIE 6.0; Windows NT 5.0)] +Parent=Rippers +Browser=eStyleSearch +Win32=true + +[ezic.com http agent *] +Parent=Rippers +Browser=Ezic.com + +[fetch libfetch/*] +Parent=Rippers + +[FGet*] +Parent=Rippers +Browser=FGet + +[Flaming AttackBot*] +Parent=Rippers +Browser=Flaming AttackBot + +[Foobot*] +Parent=Rippers +Browser=Foobot + +[GameSpyHTTP/*] +Parent=Rippers +Browser=GameSpyHTTP + +[gnome-vfs/*] +Parent=Rippers +Browser=gnome-vfs + +[Harvest/*] +Parent=Rippers +Browser=Harvest + +[hcat/*] +Parent=Rippers +Browser=hcat + +[HLoader] +Parent=Rippers +Browser=HLoader + +[Holmes/*] +Parent=Rippers +Browser=Holmes + +[HTMLParser/*] +Parent=Rippers +Browser=HTMLParser + +[http generic] +Parent=Rippers +Browser=http generic + +[httpclient*] +Parent=Rippers + +[httperf/*] +Parent=Rippers +Browser=httperf + +[HTTPFetch/*] +Parent=Rippers +Browser=HTTPFetch + +[HTTPGrab] +Parent=Rippers +Browser=HTTPGrab + +[HttpSession] +Parent=Rippers +Browser=HttpSession + +[httpunit/*] +Parent=Rippers +Browser=HttpUnit + +[ICE_GetFile] +Parent=Rippers +Browser=ICE_GetFile + +[iexplore.exe] +Parent=Rippers + +[Inet - Eureka App] +Parent=Rippers +Browser=Inet - Eureka App + +[INetURL/*] +Parent=Rippers +Browser=INetURL + +[InetURL:/*] +Parent=Rippers +Browser=InetURL + +[Internet Exploiter/*] +Parent=Rippers + +[Internet Explore *] +Parent=Rippers +Browser=Fake IE + +[Internet Explorer *] +Parent=Rippers +Browser=Fake IE + +[IP*Works!*/*] +Parent=Rippers +Browser=IP*Works! + +[IrssiUrlLog/*] +Parent=Rippers +Browser=IrssiUrlLog + +[JPluck/*] +Parent=Rippers +Browser=JPluck + +[Kapere (http://www.kapere.com)] +Parent=Rippers +Browser=Kapere + +[LeechFTP] +Parent=Rippers +Browser=LeechFTP + +[LeechGet*] +Parent=Rippers +Browser=LeechGet + +[libcurl-agent/*] +Parent=Rippers +Browser=libcurl + +[libWeb/clsHTTP*] +Parent=Rippers +Browser=libWeb/clsHTTP + +[lwp*] +Parent=Rippers + +[MFC_Tear_Sample] +Parent=Rippers +Browser=MFC_Tear_Sample + +[Moozilla] +Parent=Rippers +Browser=Moozilla + +[MovableType/*] +Parent=Rippers +Browser=MovableType Web Log + +[Mozilla/2.0 (compatible; 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Site Monitors + +[Site Monitors] +Parent=DefaultProperties +Browser=Site Monitors +Cookies=true +isBanned=true +Crawler=true + +[*EasyRider*] +Parent=Site Monitors +Browser=EasyRider + +[*maxamine.com--robot*] +Parent=Site Monitors +Browser=maxamine.com--robot +isBanned=true + +[*WebMon ?.*] +Parent=Site Monitors +Browser=WebMon + +[Kenjin Spider*] +Parent=Site Monitors +Browser=Kenjin Spider + +[Kevin http://*] +Parent=Site Monitors +Browser=Kevin +isBanned=true + +[Mozilla/4.0 (compatible; ChangeDetection/*] +Parent=Site Monitors +Browser=ChangeDetection + +[Myst Monitor Service v*] +Parent=Site Monitors +Browser=Myst Monitor Service + +[Net Probe] +Parent=Site Monitors +Browser=Net Probe + +[NetMechanic*] +Parent=Site Monitors +Browser=NetMechanic + +[NetReality*] +Parent=Site Monitors +Browser=NetReality + +[Pingdom GIGRIB*] +Parent=Site Monitors +Browser=Pingdom + +[Site Valet Online*] +Parent=Site Monitors +Browser=Site Valet +isBanned=true + +[SITECHECKER] +Parent=Site Monitors +Browser=SITECHECKER + +[sitemonitor@dnsvr.com/*] +Parent=Site Monitors +Browser=ZoneEdit Failover Monitor +isBanned=false + +[UpTime Checker*] +Parent=Site Monitors +Browser=UpTime Checker + +[URL Control*] +Parent=Site Monitors +Browser=URL Control + +[URL_Access/*] +Parent=Site Monitors + +[URLCHECK] +Parent=Site Monitors +Browser=URLCHECK + +[URLy Warning*] +Parent=Site Monitors +Browser=URLy Warning + +[Webcheck *] +Parent=Site Monitors +Browser=Webcheck +Version=1.0 +MajorVer=1 +MinorVer=0 + +[WebPatrol/*] +Parent=Site Monitors +Browser=WebPatrol + +[websitepulse checker/*] +Parent=Site Monitors +Browser=websitepulse checker + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Social Bookmarkers + +[Social Bookmarkers] +Parent=DefaultProperties +Browser=Social Bookmarkers +Frames=true +Tables=true +Cookies=true +JavaScript=true + +[BookmarkBase(2/;http://bookmarkbase.com)] +Parent=Social Bookmarkers +Browser=BookmarkBase + +[Cocoal.icio.us/1.0 (v43) (Mac OS X; http://www.scifihifi.com/cocoalicious)] +Parent=Social Bookmarkers +Browser=Cocoalicious + +[Mozilla/5.0 (compatible; FriendFeedBot/0.*; Http://friendfeed.com/about/bot)] +Parent=Social Bookmarkers +Browser=FriendFeedBot + +[Twitturly*] +Parent=Social Bookmarkers +Browser=Twitturly + +[WinkBot/*] +Parent=Social Bookmarkers +Browser=WinkBot + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Translators + +[Translators] +Parent=DefaultProperties +Browser=Translators +Frames=true +Tables=true +Cookies=true + +[Seram Server] +Parent=Translators +Browser=Seram Server + +[TeragramWebcrawler/*] +Parent=Translators +Browser=TeragramWebcrawler +Version=1.0 +MajorVer=1 +MinorVer=0 + +[WebIndexer/* (Web Indexer; *)] +Parent=Translators +Browser=WorldLingo + +[WebTrans] +Parent=Translators +Browser=WebTrans + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Version Checkers + +[Version Checkers] +Parent=DefaultProperties +Browser=Version Checkers +Crawler=true + +[Automated Browscap.ini Updater. 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NameProtect + +[NameProtect] +Parent=DefaultProperties +Browser=NameProtect +isBanned=true +Crawler=true + +[abot/*] +Parent=NameProtect +Browser=NameProtect + +[NP/*] +Parent=NameProtect +Browser=NameProtect + +[NPBot*] +Parent=NameProtect +Browser=NameProtect + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Netcraft + +[Netcraft] +Parent=DefaultProperties +Browser=Netcraft +isBanned=true +Crawler=true + +[*Netcraft Web Server Survey*] +Parent=Netcraft +Browser=Netcraft Webserver Survey +isBanned=true + +[Mozilla/5.0 (compatible; NetcraftSurveyAgent/1.0; info@netcraft.com)] +Parent=Netcraft +Browser=NetcraftSurveyAgent + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; NewsGator + +[NewsGator] +Parent=DefaultProperties +Browser=NewsGator +isSyndicationReader=true + +[MarsEdit*] +Parent=NewsGator +Browser=MarsEdit + +[NetNewsWire*/*] +Parent=NewsGator +Browser=NetNewsWire +Platform=MacOSX + +[NewsFire/*] +Parent=NewsGator +Browser=NewsFire + +[NewsGator FetchLinks extension/*] +Parent=NewsGator +Browser=NewsGator FetchLinks + +[NewsGator/*] +Parent=NewsGator +Browser=NewsGator +isBanned=true + +[NewsGatorOnline/*] +Parent=NewsGator +Browser=NewsGatorOnline + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Chrome 0.2 + +[Chrome 0.2] +Parent=DefaultProperties +Browser=Chrome +Version=0.2 +MinorVer=2 +Beta=true +Win32=true +Frames=true +IFrames=true +Tables=true +Cookies=true +JavaApplets=true +JavaScript=true +CssVersion=3 +supportsCSS=true + +[Mozilla/5.0 (Windows; U; Windows NT 5.1; *) AppleWebKit/* (KHTML, like Gecko) Chrome/0.2.* Safari/*] +Parent=Chrome 0.2 +Platform=WinXP + +[Mozilla/5.0 (Windows; U; Windows NT 5.2; *) AppleWebKit/* (KHTML, like Gecko) Chrome/0.2.* Safari/*] +Parent=Chrome 0.2 +Platform=Win2003 + +[Mozilla/5.0 (Windows; U; Windows NT 6.0; *) AppleWebKit/* (KHTML, like Gecko) Chrome/0.2.* Safari/*] +Parent=Chrome 0.2 +Platform=WinVista + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Chrome 0.3 + +[Chrome 0.3] +Parent=DefaultProperties +Browser=Chrome +Version=0.3 +MinorVer=3 +Beta=true +Win32=true +Frames=true +IFrames=true +Tables=true +Cookies=true +JavaApplets=true +JavaScript=true +CssVersion=3 +supportsCSS=true + +[Mozilla/5.0 (Windows; U; Windows NT 5.1; *) AppleWebKit/* (KHTML, like Gecko) Chrome/0.3.* Safari/*] +Parent=Chrome 0.3 +Platform=WinXP + +[Mozilla/5.0 (Windows; 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U; Windows NT 7.0; *) AppleWebKit/* (KHTML, like Gecko) Chrome/2.0.* Safari/*] +Parent=Chrome 2.0 +Platform=Win7 + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; Chrome 3.0 + +[Chrome 3.0] +Parent=DefaultProperties +Browser=Chrome +Version=3.0 +MajorVer=3 +Win32=true +Frames=true +IFrames=true +Tables=true +Cookies=true +JavaApplets=true +JavaScript=true +CssVersion=3 +supportsCSS=true + +[Mozilla/5.0 (Windows; U; Windows NT 5.1; *) AppleWebKit/* (KHTML, like Gecko) Chrome/3.0.* Safari/*] +Parent=Chrome 3.0 +Platform=WinXP + +[Mozilla/5.0 (Windows; U; Windows NT 5.2; *) AppleWebKit/* (KHTML, like Gecko) Chrome/3.0.* Safari/*] +Parent=Chrome 3.0 +Platform=Win2003 + +[Mozilla/5.0 (Windows; U; Windows NT 6.0; *) AppleWebKit/* (KHTML, like Gecko) Chrome/3.0.* Safari/*] +Parent=Chrome 3.0 +Platform=WinVista + +[Mozilla/5.0 (Windows; U; Windows NT 6.1; *) AppleWebKit/* (KHTML, like Gecko) Chrome/3.0.* Safari/*] +Parent=Chrome 3.0 +Platform=Win7 + +[Mozilla/5.0 (Windows; U; Windows NT 7.0; *) AppleWebKit/* (KHTML, like Gecko) Chrome/3.0.* Safari/*] +Parent=Chrome 3.0 +Platform=Win7 + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; 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+1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1 + } + Transform: *16 { + a: 1,0,0,0,0,1,0,0,0,0,1,0,-1.11022e-16,2.77556e-17,0,1 + } + TransformLink: *16 { + a: 1,0,0,0,-0,1,0,0,0,-0,1,0,1.11022e-16,-2.77556e-17,0,1 + } + } + Deformer: 2286590742896, "SubDeformer::", "Cluster" { + Version: 100 + UserData: "", "" + Indexes: *61 { + a: 2227,2228,2229,2230,2231,2232,2233,2234,2235,2236,2237,2238,2239,2240,2241,2242,2243,2244,2245,2246,2247,2248,2249,2250,2251,2252,2253,2254,2255,2256,2257,2258,2259,2260,2261,2262,2263,2264,2265,2266,2267,2268,2269,2270,2271,2272,2273,2274,2275,2276,2277,2278,2279,2280,2281,2282,2283,2284,2285,2286,2287 + } + Weights: *61 { + a: 1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1 + } + Transform: *16 { + a: 1,0,0,0,0,1,0,0,0,0,1,0,1.34458,0.0953069000000001,1.56308,1 + } + TransformLink: *16 { + a: 1,0,0,0,-0,0.999999999999999,0,0,0,-0,1,0,-1.34458,-0.0953069,-1.56308,1 + } + } + Deformer: 2286590728608, "SubDeformer::", "Cluster" { + Version: 100 + UserData: "", "" + Indexes: *147 { + a: 2861,2862,2863,2864,2865,2866,2867,2868,2869,2870,2871,2872,2873,2874,2875,2876,2877,2878,2879,2880,2881,2882,2883,2884,2885,2886,2887,2888,2889,2890,2891,2892,2893,2894,2895,2896,2897,2898,2899,2900,2901,2902,2903,2904,2905,2906,2907,2908,2909,2910,2911,2912,2913,2914,2915,2916,2917,2918,2919,2920,2921,2922,2923,2924,2925,2926,2927,2928,2929,2930,2931,2932,2933,2934,2935,2936,2937,2938,2939,2940,2941,2942,2943,2944,2945,2946,2947,2948,2949,2950,2951,2952,2953,2954,2955,2956,2957,2958,2959,2960,2961,2962,2963,2964,2965,2966,2967,2968,2969,2970,2971,2972,2973,2974,2975,2976,2977,2978,2979,2980,2981,2982,2983,2984,2985,2986,2987,2988,2989,2990,2991,2992,2993,2994,2995,2996,2997,2998,2999,3000,3001,3002,3003,3004,3005,3006,3007 + } + Weights: *147 { + a: 1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1 + } + Transform: *16 { + a: 1,0,0,0,0,1,0,0,0,0,1,0,-0.499064,0.947063,-2.72572,1 + } + TransformLink: *16 { + a: 1,0,0,0,-0,1,0,0,0,-0,1,0,0.499064,-0.947063,2.72572,1 + } + } + Deformer: 2286590730112, "SubDeformer::", "Cluster" { + Version: 100 + UserData: "", "" + Indexes: *127 { + a: 2734,2735,2736,2737,2738,2739,2740,2741,2742,2743,2744,2745,2746,2747,2748,2749,2750,2751,2752,2753,2754,2755,2756,2757,2758,2759,2760,2761,2762,2763,2764,2765,2766,2767,2768,2769,2770,2771,2772,2773,2774,2775,2776,2777,2778,2779,2780,2781,2782,2783,2784,2785,2786,2787,2788,2789,2790,2791,2792,2793,2794,2795,2796,2797,2798,2799,2800,2801,2802,2803,2804,2805,2806,2807,2808,2809,2810,2811,2812,2813,2814,2815,2816,2817,2818,2819,2820,2821,2822,2823,2824,2825,2826,2827,2828,2829,2830,2831,2832,2833,2834,2835,2836,2837,2838,2839,2840,2841,2842,2843,2844,2845,2846,2847,2848,2849,2850,2851,2852,2853,2854,2855,2856,2857,2858,2859,2860 + } + Weights: *127 { + a: 1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1 + } + Transform: *16 { + a: 1,0,0,0,0,1,0,0,0,0,1,0,0.494865,3.57376,1.33871,1 + } + TransformLink: *16 { + a: 1,0,0,0,-0,1,0,0,0,-0,1,0,-0.494865,-3.57376,-1.33871,1 + } + } + Deformer: 2286590734624, "SubDeformer::", "Cluster" { + Version: 100 + UserData: "", "" + Indexes: *91 { + a: 2643,2644,2645,2646,2647,2648,2649,2650,2651,2652,2653,2654,2655,2656,2657,2658,2659,2660,2661,2662,2663,2664,2665,2666,2667,2668,2669,2670,2671,2672,2673,2674,2675,2676,2677,2678,2679,2680,2681,2682,2683,2684,2685,2686,2687,2688,2689,2690,2691,2692,2693,2694,2695,2696,2697,2698,2699,2700,2701,2702,2703,2704,2705,2706,2707,2708,2709,2710,2711,2712,2713,2714,2715,2716,2717,2718,2719,2720,2721,2722,2723,2724,2725,2726,2727,2728,2729,2730,2731,2732,2733 + } + Weights: *91 { + a: 1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1 + } + Transform: *16 { + a: 1,0,0,0,0,1,0,0,0,0,1,0,-1.26844,-0.123654,-0.0535727,1 + } + TransformLink: *16 { + a: 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"AnimCurveNode::Visibility", "" { + Properties70: { + P: "d|Visibility", "Visibility", "", "A",1 + } + } + AnimationCurveNode: 2285722606848, "AnimCurveNode::T", "" { + Properties70: { + P: "d|X", "Number", "", "A",0.522335 + P: "d|Y", "Number", "", "A",0.064359 + P: "d|Z", "Number", "", "A",-1.30829 + } + } + AnimationCurveNode: 2285722607680, "AnimCurveNode::S", "" { + Properties70: { + P: "d|X", "Number", "", "A",0.999999999999999 + P: "d|Y", "Number", "", "A",1 + P: "d|Z", "Number", "", "A",1 + } + } + AnimationCurveNode: 2285722610384, "AnimCurveNode::R", "" { + Properties70: { + P: "d|X", "Number", "", "A",0 + P: "d|Y", "Number", "", "A",0 + P: "d|Z", "Number", "", "A",0 + } + } + AnimationCurveNode: 2285722610800, "AnimCurveNode::Visibility", "" { + Properties70: { + P: "d|Visibility", "Visibility", "", "A",1 + } + } + AnimationCurveNode: 2285722609136, "AnimCurveNode::T", "" { + Properties70: { + P: "d|X", "Number", "", "A",-0.935476 + P: "d|Y", "Number", "", "A",-0.472432999206454 + P: "d|Z", "Number", "", "A",0.273653234554331 + } + } + AnimationCurveNode: 2285722608096, "AnimCurveNode::S", "" { + Properties70: { + P: "d|X", "Number", "", "A",1 + P: "d|Y", "Number", "", "A",1 + P: "d|Z", "Number", "", "A",1 + } + } + AnimationCurveNode: 2285722608720, "AnimCurveNode::R", "" { + Properties70: { + P: "d|X", "Number", "", "A",8.26944217180514e-14 + P: "d|Y", "Number", "", "A",-9.54166404439056e-15 + P: "d|Z", "Number", "", "A",1.27222187258541e-14 + } + } + AnimationLayer: 2287399198624, "AnimLayer::BaseLayer", "" { + } + CollectionExclusive: 2287478717024, "DisplayLayer::leftLayer", "DisplayLayer" { + } +} + +; Object connections +;------------------------------------------------------------------ + +Connections: { + + ;Model::right_oculus_controller_world, Model::RootNode + C: "OO",2287400062720,0 + + ;Model::r_rainier_mesh, Model::RootNode + C: "OO",2287400102160,0 + + ;Model::right_laser_begin, Model::RootNode + C: "OO",2287400113760,0 + + ;AnimLayer::BaseLayer, AnimStack::Take 001 + C: "OO",2287399198624,2285109622000 + + ;AnimCurveNode::filmboxTypeID, AnimLayer::BaseLayer + C: "OO",2285847550112,2287399198624 + + ;AnimCurveNode::lockInfluenceWeights, AnimLayer::BaseLayer + C: "OO",2285847547408,2287399198624 + + ;AnimCurveNode::filmboxTypeID, AnimLayer::BaseLayer + C: "OO",2285847546368,2287399198624 + + ;AnimCurveNode::lockInfluenceWeights, AnimLayer::BaseLayer + C: "OO",2285847546576,2287399198624 + + ;AnimCurveNode::filmboxTypeID, AnimLayer::BaseLayer + C: "OO",2285852484912,2287399198624 + + ;AnimCurveNode::lockInfluenceWeights, AnimLayer::BaseLayer + C: "OO",2285852483456,2287399198624 + + ;AnimCurveNode::filmboxTypeID, AnimLayer::BaseLayer + C: "OO",2285852482208,2287399198624 + + ;AnimCurveNode::lockInfluenceWeights, AnimLayer::BaseLayer + C: "OO",2285852483248,2287399198624 + + ;AnimCurveNode::filmboxTypeID, AnimLayer::BaseLayer + C: "OO",2285852483664,2287399198624 + + ;AnimCurveNode::lockInfluenceWeights, AnimLayer::BaseLayer + C: "OO",2285852483872,2287399198624 + + ;AnimCurveNode::filmboxTypeID, AnimLayer::BaseLayer + C: "OO",2285852484496,2287399198624 + + ;AnimCurveNode::lockInfluenceWeights, AnimLayer::BaseLayer + C: "OO",2285852485328,2287399198624 + + ;AnimCurveNode::filmboxTypeID, AnimLayer::BaseLayer + C: "OO",2285852484704,2287399198624 + + ;AnimCurveNode::lockInfluenceWeights, AnimLayer::BaseLayer + C: "OO",2285852485536,2287399198624 + + ;AnimCurveNode::T, AnimLayer::BaseLayer + C: "OO",2285726909856,2287399198624 + + ;AnimCurveNode::S, AnimLayer::BaseLayer + C: "OO",2285726906944,2287399198624 + + ;AnimCurveNode::R, AnimLayer::BaseLayer + C: "OO",2285726907568,2287399198624 + + ;AnimCurveNode::Visibility, AnimLayer::BaseLayer + C: "OO",2285726907776,2287399198624 + + ;AnimCurveNode::T, AnimLayer::BaseLayer + C: "OO",2285726907984,2287399198624 + + ;AnimCurveNode::S, AnimLayer::BaseLayer + C: "OO",2285726908192,2287399198624 + + ;AnimCurveNode::R, AnimLayer::BaseLayer + C: "OO",2285726909232,2287399198624 + + ;AnimCurveNode::Visibility, AnimLayer::BaseLayer + C: "OO",2285726909440,2287399198624 + + ;AnimCurveNode::T, AnimLayer::BaseLayer + C: "OO",2285726908400,2287399198624 + + ;AnimCurveNode::S, AnimLayer::BaseLayer + C: "OO",2285726909648,2287399198624 + + ;AnimCurveNode::R, AnimLayer::BaseLayer + C: "OO",2285108396864,2287399198624 + + ;AnimCurveNode::Visibility, AnimLayer::BaseLayer + C: "OO",2285108394992,2287399198624 + + ;AnimCurveNode::T, AnimLayer::BaseLayer + C: "OO",2285108397696,2287399198624 + + ;AnimCurveNode::S, AnimLayer::BaseLayer + C: "OO",2285108398320,2287399198624 + + ;AnimCurveNode::R, AnimLayer::BaseLayer + C: "OO",2285108395824,2287399198624 + + ;AnimCurveNode::Visibility, AnimLayer::BaseLayer + C: "OO",2285108396240,2287399198624 + + ;AnimCurveNode::T, AnimLayer::BaseLayer + C: "OO",2285108397904,2287399198624 + + ;AnimCurveNode::S, AnimLayer::BaseLayer + C: "OO",2285108397072,2287399198624 + + ;AnimCurveNode::R, AnimLayer::BaseLayer + C: "OO",2285108398528,2287399198624 + + ;AnimCurveNode::Visibility, AnimLayer::BaseLayer + C: "OO",2285722606640,2287399198624 + + ;AnimCurveNode::T, AnimLayer::BaseLayer + C: "OO",2285722606848,2287399198624 + + ;AnimCurveNode::S, AnimLayer::BaseLayer + C: "OO",2285722607680,2287399198624 + + ;AnimCurveNode::R, AnimLayer::BaseLayer + C: "OO",2285722610384,2287399198624 + + ;AnimCurveNode::Visibility, AnimLayer::BaseLayer + C: "OO",2285722610800,2287399198624 + + ;AnimCurveNode::T, AnimLayer::BaseLayer + C: "OO",2285722609136,2287399198624 + + ;AnimCurveNode::S, AnimLayer::BaseLayer + C: "OO",2285722608096,2287399198624 + + ;AnimCurveNode::R, AnimLayer::BaseLayer + C: "OO",2285722608720,2287399198624 + + ;NodeAttribute::, Model::right_oculus_controller_world + C: "OO",2287478674016,2287400062720 + + ;Model::b_button_oculus, Model::right_oculus_controller_world + C: "OO",2287400067360,2287400062720 + + ;Model::b_trigger_front, Model::right_oculus_controller_world + C: "OO",2287400095200,2287400062720 + + ;Model::b_trigger_grip, Model::right_oculus_controller_world + C: "OO",2287400097520,2287400062720 + + ;Model::b_button_b, Model::right_oculus_controller_world + C: "OO",2287400099840,2287400062720 + + ;Model::b_button_a, Model::right_oculus_controller_world + C: "OO",2287400069680,2287400062720 + + ;Model::b_thumbstick, Model::right_oculus_controller_world + C: "OO",2287400109120,2287400062720 + + ;AnimCurveNode::T, Model::right_oculus_controller_world + C: "OP",2285726909856,2287400062720, "Lcl Translation" + + ;AnimCurveNode::R, Model::right_oculus_controller_world + C: "OP",2285726907568,2287400062720, "Lcl Rotation" + + ;AnimCurveNode::S, Model::right_oculus_controller_world + C: "OP",2285726906944,2287400062720, "Lcl Scaling" + + ;AnimCurveNode::filmboxTypeID, Model::right_oculus_controller_world + C: "OP",2285847550112,2287400062720, "filmboxTypeID" + + ;AnimCurveNode::lockInfluenceWeights, Model::right_oculus_controller_world + C: "OP",2285847547408,2287400062720, "lockInfluenceWeights" + + ;NodeAttribute::, Model::b_button_oculus + C: "OO",2287478715296,2287400067360 + + ;AnimCurveNode::T, Model::b_button_oculus + C: "OP",2285726907984,2287400067360, "Lcl Translation" + + ;AnimCurveNode::R, Model::b_button_oculus + C: "OP",2285726909232,2287400067360, "Lcl Rotation" + + ;AnimCurveNode::S, Model::b_button_oculus + C: "OP",2285726908192,2287400067360, "Lcl Scaling" + + ;AnimCurveNode::Visibility, Model::b_button_oculus + C: "OP",2285726907776,2287400067360, "Visibility" + + ;AnimCurveNode::filmboxTypeID, Model::b_button_oculus + C: "OP",2285847546368,2287400067360, "filmboxTypeID" + + ;AnimCurveNode::lockInfluenceWeights, Model::b_button_oculus + C: "OP",2285847546576,2287400067360, "lockInfluenceWeights" + + ;NodeAttribute::, Model::b_trigger_front + C: "OO",2287478714720,2287400095200 + + ;AnimCurveNode::T, Model::b_trigger_front + C: "OP",2285726908400,2287400095200, "Lcl Translation" + + ;AnimCurveNode::R, Model::b_trigger_front + C: "OP",2285108396864,2287400095200, "Lcl Rotation" + + ;AnimCurveNode::S, Model::b_trigger_front + C: "OP",2285726909648,2287400095200, "Lcl Scaling" + + ;AnimCurveNode::Visibility, Model::b_trigger_front + C: "OP",2285726909440,2287400095200, "Visibility" + + ;AnimCurveNode::filmboxTypeID, Model::b_trigger_front + C: "OP",2285852484912,2287400095200, "filmboxTypeID" + + ;AnimCurveNode::lockInfluenceWeights, Model::b_trigger_front + C: "OP",2285852483456,2287400095200, "lockInfluenceWeights" + + ;NodeAttribute::, Model::b_trigger_grip + C: "OO",2287478712800,2287400097520 + + ;AnimCurveNode::T, Model::b_trigger_grip + C: "OP",2285108397696,2287400097520, "Lcl Translation" + + ;AnimCurveNode::R, Model::b_trigger_grip + C: "OP",2285108395824,2287400097520, "Lcl Rotation" + + ;AnimCurveNode::S, Model::b_trigger_grip + C: "OP",2285108398320,2287400097520, "Lcl Scaling" + + ;AnimCurveNode::Visibility, Model::b_trigger_grip + C: "OP",2285108394992,2287400097520, "Visibility" + + ;AnimCurveNode::filmboxTypeID, Model::b_trigger_grip + C: "OP",2285852482208,2287400097520, "filmboxTypeID" + + ;AnimCurveNode::lockInfluenceWeights, Model::b_trigger_grip + C: "OP",2285852483248,2287400097520, "lockInfluenceWeights" + + ;NodeAttribute::, Model::b_button_b + C: "OO",2287478708000,2287400099840 + + ;AnimCurveNode::T, Model::b_button_b + C: "OP",2285108397904,2287400099840, "Lcl Translation" + + ;AnimCurveNode::R, Model::b_button_b + C: "OP",2285108398528,2287400099840, "Lcl Rotation" + + ;AnimCurveNode::S, Model::b_button_b + C: "OP",2285108397072,2287400099840, "Lcl Scaling" + + ;AnimCurveNode::Visibility, Model::b_button_b + C: "OP",2285108396240,2287400099840, "Visibility" + + ;AnimCurveNode::filmboxTypeID, Model::b_button_b + C: "OP",2285852483664,2287400099840, "filmboxTypeID" + + ;AnimCurveNode::lockInfluenceWeights, Model::b_button_b + C: "OP",2285852483872,2287400099840, "lockInfluenceWeights" + + ;NodeAttribute::, Model::b_button_a + C: "OO",2287478713760,2287400069680 + + ;AnimCurveNode::T, Model::b_button_a + C: "OP",2285722606848,2287400069680, "Lcl Translation" + + ;AnimCurveNode::R, Model::b_button_a + C: "OP",2285722610384,2287400069680, "Lcl Rotation" + + ;AnimCurveNode::S, Model::b_button_a + C: "OP",2285722607680,2287400069680, "Lcl Scaling" + + ;AnimCurveNode::Visibility, Model::b_button_a + C: "OP",2285722606640,2287400069680, "Visibility" + + ;AnimCurveNode::filmboxTypeID, Model::b_button_a + C: "OP",2285852484496,2287400069680, "filmboxTypeID" + + ;AnimCurveNode::lockInfluenceWeights, Model::b_button_a + C: "OP",2285852485328,2287400069680, "lockInfluenceWeights" + + ;NodeAttribute::, Model::b_thumbstick + C: "OO",2287478717984,2287400109120 + + ;AnimCurveNode::T, Model::b_thumbstick + C: "OP",2285722609136,2287400109120, "Lcl Translation" + + ;AnimCurveNode::R, Model::b_thumbstick + C: "OP",2285722608720,2287400109120, "Lcl Rotation" + + ;AnimCurveNode::S, Model::b_thumbstick + C: "OP",2285722608096,2287400109120, "Lcl Scaling" + + ;AnimCurveNode::Visibility, Model::b_thumbstick + C: "OP",2285722610800,2287400109120, "Visibility" + + ;AnimCurveNode::filmboxTypeID, Model::b_thumbstick + C: "OP",2285852484704,2287400109120, "filmboxTypeID" + + ;AnimCurveNode::lockInfluenceWeights, Model::b_thumbstick + C: "OP",2285852485536,2287400109120, "lockInfluenceWeights" + + ;Deformer::, Geometry:: + C: "OO",2287478708576,2285110195968 + + ;Texture::file5, Material::bothControllerMAT + C: "OP",2286596665616,2286526865984, "Maya|TEX_global_diffuse_cube" + + ;Texture::file6, Material::bothControllerMAT + C: "OP",2286596659856,2286526865984, "Maya|TEX_global_specular_cube" + + ;Texture::file7, Material::bothControllerMAT + C: "OP",2286596653136,2286526865984, "Maya|TEX_brdf_lut" + + ;Texture::file4, Material::bothControllerMAT + C: "OP",2286596654576,2286526865984, "Maya|TEX_color_map" + + ;Texture::metallicRoughnessTexture, Material::bothControllerMAT + C: "OP",2286596652656,2286526865984, "Maya|TEX_metallic_map" + + ;Texture::metallicRoughnessTexture, Material::bothControllerMAT + C: "OP",2286596652656,2286526865984, "Maya|TEX_roughness_map" + + ;Material::bothControllerMAT, Implementation::bothControllerMAT_Implementation + C: "OO",2286526865984,2286733631440 + + ;BindingTable::root 5, Implementation::bothControllerMAT_Implementation + C: "OO",2285967142992,2286733631440 + + ;Video::metallicRoughnessTexture, Texture::metallicRoughnessTexture + C: "OO",2286596660336,2286596652656 + + ;Video::file6, Texture::file6 + C: "OO",2286596666096,2286596659856 + + ;Video::file5, Texture::file5 + C: "OO",2286596666576,2286596665616 + + ;Video::file7, Texture::file7 + C: "OO",2286596655536,2286596653136 + + ;Video::file4, Texture::file4 + C: "OO",2286596656496,2286596654576 + + ;Geometry::, Model::r_rainier_mesh + C: "OO",2285110195968,2287400102160 + + ;Material::bothControllerMAT, Model::r_rainier_mesh + C: "OO",2286526865984,2287400102160 + + ;NodeAttribute::, Model::right_laser_begin + C: "OO",2285107654816,2287400113760 + + ;Model::pasted__laser_end_pointer, Model::right_laser_begin + C: "OO",2287400104480,2287400113760 + + ;NodeAttribute::, Model::pasted__laser_end_pointer + C: "OO",2285107656048,2287400104480 + + ;AnimCurve::, AnimCurveNode::lockInfluenceWeights + C: "OP",2286529249728,2285847546576, "d|lockInfluenceWeights" + + ;AnimCurve::, AnimCurveNode::lockInfluenceWeights + C: "OP",2286529251968,2285852483456, "d|lockInfluenceWeights" + + ;AnimCurve::, AnimCurveNode::lockInfluenceWeights + C: "OP",2286529248928,2285852483248, "d|lockInfluenceWeights" + + ;AnimCurve::, AnimCurveNode::lockInfluenceWeights + C: "OP",2286529253888,2285852483872, "d|lockInfluenceWeights" + + ;AnimCurve::, AnimCurveNode::lockInfluenceWeights + C: "OP",2286529253728,2285852485328, "d|lockInfluenceWeights" + + ;AnimCurve::, AnimCurveNode::lockInfluenceWeights + C: "OP",2286529254368,2285852485536, "d|lockInfluenceWeights" + + ;Model::right_oculus_controller_world, DisplayLayer::leftLayer + C: "OO",2287400062720,2287478717024 + + ;AnimCurve::, AnimCurveNode::Visibility + C: "OP",2286526862464,2285726907776, "d|Visibility" + + ;AnimCurve::, AnimCurveNode::T + C: "OP",2286526864864,2285726907984, "d|X" + + ;AnimCurve::, AnimCurveNode::T + C: "OP",2286526867104,2285726907984, "d|Y" + + ;AnimCurve::, AnimCurveNode::T + C: "OP",2286526865664,2285726907984, "d|Z" + + ;AnimCurve::, AnimCurveNode::Visibility + C: "OP",2286526865824,2285726909440, "d|Visibility" + + ;AnimCurve::, AnimCurveNode::R + C: "OP",2286526867744,2285108396864, "d|X" + + ;AnimCurve::, AnimCurveNode::R + C: "OP",2286526863904,2285108396864, "d|Y" + + ;AnimCurve::, AnimCurveNode::R + C: "OP",2286526867264,2285108396864, "d|Z" + + ;AnimCurve::, AnimCurveNode::Visibility + C: "OP",2286526866464,2285108394992, "d|Visibility" + + ;AnimCurve::, AnimCurveNode::R + C: "OP",2286526867904,2285108395824, "d|X" + + ;AnimCurve::, AnimCurveNode::R + C: "OP",2286526868224,2285108395824, "d|Y" + + ;AnimCurve::, AnimCurveNode::R + C: "OP",2286526863264,2285108395824, "d|Z" + + ;AnimCurve::, AnimCurveNode::Visibility + C: "OP",2286526866624,2285108396240, "d|Visibility" + + ;AnimCurve::, AnimCurveNode::T + C: "OP",2286526864544,2285108397904, "d|X" + + ;AnimCurve::, AnimCurveNode::T + C: "OP",2286526869184,2285108397904, "d|Y" + + ;AnimCurve::, AnimCurveNode::T + C: "OP",2286526866784,2285108397904, "d|Z" + + ;AnimCurve::, AnimCurveNode::Visibility + C: "OP",2286526869344,2285722606640, "d|Visibility" + + ;AnimCurve::, AnimCurveNode::T + C: "OP",2286526861664,2285722606848, "d|X" + + ;AnimCurve::, AnimCurveNode::T + C: "OP",2285102393552,2285722606848, "d|Y" + + ;AnimCurve::, AnimCurveNode::T + C: "OP",2286529252768,2285722606848, "d|Z" + + ;AnimCurve::, AnimCurveNode::Visibility + C: "OP",2286529250048,2285722610800, "d|Visibility" + + ;AnimCurve::, AnimCurveNode::R + C: "OP",2286529249568,2285722608720, "d|X" + + ;AnimCurve::, AnimCurveNode::R + C: "OP",2286529253248,2285722608720, "d|Y" + + ;AnimCurve::, AnimCurveNode::R + C: "OP",2286529251488,2285722608720, "d|Z" + + ;SubDeformer::, Deformer:: + C: "OO",2286590739136,2287478708576 + + ;SubDeformer::, Deformer:: + C: "OO",2286590742896,2287478708576 + + ;SubDeformer::, Deformer:: + C: "OO",2286590728608,2287478708576 + + ;SubDeformer::, Deformer:: + C: "OO",2286590730112,2287478708576 + + ;SubDeformer::, Deformer:: + C: "OO",2286590734624,2287478708576 + + ;SubDeformer::, Deformer:: + C: "OO",2286590736880,2287478708576 + + ;SubDeformer::, Deformer:: + C: "OO",2286590739888,2287478708576 + + ;Model::right_oculus_controller_world, SubDeformer:: + C: "OO",2287400062720,2286590739136 + + ;Model::b_button_oculus, SubDeformer:: + C: "OO",2287400067360,2286590742896 + + ;Model::b_trigger_front, SubDeformer:: + C: "OO",2287400095200,2286590728608 + + ;Model::b_trigger_grip, SubDeformer:: + C: "OO",2287400097520,2286590730112 + + ;Model::b_button_b, SubDeformer:: + C: "OO",2287400099840,2286590734624 + + ;Model::b_button_a, SubDeformer:: + C: "OO",2287400069680,2286590736880 + + ;Model::b_thumbstick, SubDeformer:: + C: "OO",2287400109120,2286590739888 +} +;Takes section +;---------------------------------------------------- + +Takes: { + Current: "Take 001" + Take: "Take 001" { + FileName: "Take_001.tak" + LocalTime: 0,83135084400 + ReferenceTime: 0,83135084400 + } +} diff --git a/hci/user-in-the-box/uitb/tasks/unity/assets/OculusTouchForQuest2_Right.stl b/hci/user-in-the-box/uitb/tasks/unity/assets/OculusTouchForQuest2_Right.stl new file mode 100644 index 00000000..92016f9a Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/unity/assets/OculusTouchForQuest2_Right.stl differ diff --git a/hci/user-in-the-box/uitb/tasks/unity/assets/OculusTouchForQuest2_Right_maybe_correct_scaling.stl b/hci/user-in-the-box/uitb/tasks/unity/assets/OculusTouchForQuest2_Right_maybe_correct_scaling.stl new file mode 100644 index 00000000..ddaada66 Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/unity/assets/OculusTouchForQuest2_Right_maybe_correct_scaling.stl differ diff --git a/hci/user-in-the-box/uitb/tasks/unity/assets/oculus-quest-1-controller-left.stl b/hci/user-in-the-box/uitb/tasks/unity/assets/oculus-quest-1-controller-left.stl new file mode 100644 index 00000000..b7e3c6b4 Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/unity/assets/oculus-quest-1-controller-left.stl differ diff --git a/hci/user-in-the-box/uitb/tasks/unity/assets/oculus-quest-1-controller-right.stl b/hci/user-in-the-box/uitb/tasks/unity/assets/oculus-quest-1-controller-right.stl new file mode 100644 index 00000000..c7873532 Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/unity/assets/oculus-quest-1-controller-right.stl differ diff --git a/hci/user-in-the-box/uitb/tasks/unity/assets/oculus-quest-1-headset b/hci/user-in-the-box/uitb/tasks/unity/assets/oculus-quest-1-headset new file mode 100644 index 00000000..276d6682 --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/unity/assets/oculus-quest-1-headset @@ -0,0 +1 @@ +"Oculus Quest VR Headset" (https://skfb.ly/o6SUC) by BlackCube is licensed under Creative Commons Attribution (http://creativecommons.org/licenses/by/4.0/). diff --git a/hci/user-in-the-box/uitb/tasks/unity/assets/oculus-quest-1-headset-maybe-correct-scaling.stl b/hci/user-in-the-box/uitb/tasks/unity/assets/oculus-quest-1-headset-maybe-correct-scaling.stl new file mode 100644 index 00000000..a707708f Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/unity/assets/oculus-quest-1-headset-maybe-correct-scaling.stl differ diff --git a/hci/user-in-the-box/uitb/tasks/unity/assets/oculus-quest-1-headset.stl b/hci/user-in-the-box/uitb/tasks/unity/assets/oculus-quest-1-headset.stl new file mode 100644 index 00000000..e389f831 Binary files /dev/null and b/hci/user-in-the-box/uitb/tasks/unity/assets/oculus-quest-1-headset.stl differ diff --git a/hci/user-in-the-box/uitb/tasks/unity/task.xml b/hci/user-in-the-box/uitb/tasks/unity/task.xml new file mode 100644 index 00000000..00103073 --- /dev/null +++ b/hci/user-in-the-box/uitb/tasks/unity/task.xml @@ -0,0 +1,33 @@ + + + + diff --git a/hci/user-in-the-box/uitb/test/PhysicalAlignment/__pycache__/utils.cpython-311.pyc b/hci/user-in-the-box/uitb/test/PhysicalAlignment/__pycache__/utils.cpython-311.pyc new file mode 100644 index 00000000..8e1c47e5 Binary files /dev/null and b/hci/user-in-the-box/uitb/test/PhysicalAlignment/__pycache__/utils.cpython-311.pyc differ diff --git a/hci/user-in-the-box/uitb/test/PhysicalAlignment/reach_envelope.ipynb b/hci/user-in-the-box/uitb/test/PhysicalAlignment/reach_envelope.ipynb new file mode 100644 index 00000000..32dc20a5 --- /dev/null +++ b/hci/user-in-the-box/uitb/test/PhysicalAlignment/reach_envelope.ipynb @@ -0,0 +1,929 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 1, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "env: MUJOCO_GL=egl\n" + ] + } + ], + "source": [ + "%env MUJOCO_GL=egl\n", + "%matplotlib widget" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "metadata": {}, + "outputs": [], + "source": [ + "import uitb\n", + "from uitb import test as uitb_test\n", + "import os\n", + "\n", + "import numpy as np\n", + "import pandas as pd\n", + "# import mujoco\n", + "# import matplotlib.pyplot as plt" + ] + }, + { + "cell_type": "code", + "execution_count": 3, + "metadata": {}, + "outputs": [], + "source": [ + "REMOTE_DISPLAY = True\n", + "###TODO: test with other OS than Ubuntu\n", + "\n", + "if REMOTE_DISPLAY:\n", + " process = os.popen(\"hostname --ip-address\")\n", + " _myipaddress = process.read().split()[0]\n", + " process.close()\n", + "\n", + " # os.environ[\"DISPLAY\"] = f\"{_myipaddress}:1\" #run remotely (X server needs to be configured to accept remote connections, see https://askubuntu.com/a/34663)\n", + " os.environ[\"DISPLAY\"] = f\":1\" #run remotely (X server needs to be configured to accept remote connections, see https://askubuntu.com/a/34663)\n", + "\n", + " process = os.popen(\"echo /run/user/$(id -u)\")\n", + " _pam = process.read().split(\"\\n\")[0]\n", + " process.close()\n", + "\n", + " os.environ[\"XDG_RUNTIME_DIR\"] = _pam\n", + "else:\n", + " # use X11 forwarding (e.g., using MobaXterm)\n", + " os.environ[\"DISPLAY\"] = \"localhost:10.0\" #forward to localhost:10.0" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## Reach Envelope\n", + "[adapted from reacher_sg's reacherutils.py and ReacherSG_trajectory-analysis.ipynb, and then from uitb-vr_testing.ipynb]" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Set simulation parameters" + ] + }, + { + "cell_type": "code", + "execution_count": 4, + "metadata": {}, + "outputs": [], + "source": [ + "SIMULATOR_NAME = \"unity_random_3ccr_1e1_v115\"\n", + "USE_CLONED = False\n", + "\n", + "RUN_PARAMETERS = {\"action_sample_freq\": 20,\"evaluate\": True}\n", + "USE_VR_CONTROLLER = True #whether to use VR controller position or that of the welded body ##(the latter does not require calling mj_step, and thus results in the hypothetical reach envelope of the hand, ignoring the offset to the VR controller)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Observe reach envelope" + ] + }, + { + "cell_type": "code", + "execution_count": 5, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Attempting to connect to Unity app on port 42159\n", + "[UnityMemory] Configuration Parameters - Can be set up in boot.config\n", + " \"memorysetup-bucket-allocator-granularity=16\"\n", + " \"memorysetup-bucket-allocator-bucket-count=8\"\n", + " \"memorysetup-bucket-allocator-block-size=4194304\"\n", + " \"memorysetup-bucket-allocator-block-count=1\"\n", + " \"memorysetup-main-allocator-block-size=16777216\"\n", + " \"memorysetup-thread-allocator-block-size=16777216\"\n", + " \"memorysetup-gfx-main-allocator-block-size=16777216\"\n", + " \"memorysetup-gfx-thread-allocator-block-size=16777216\"\n", + " \"memorysetup-cache-allocator-block-size=4194304\"\n", + " \"memorysetup-typetree-allocator-block-size=2097152\"\n", + " \"memorysetup-profiler-bucket-allocator-granularity=16\"\n", + " \"memorysetup-profiler-bucket-allocator-bucket-count=8\"\n", + " \"memorysetup-profiler-bucket-allocator-block-size=4194304\"\n", + " \"memorysetup-profiler-bucket-allocator-block-count=1\"\n", + " \"memorysetup-profiler-allocator-block-size=16777216\"\n", + " \"memorysetup-profiler-editor-allocator-block-size=1048576\"\n", + " \"memorysetup-temp-allocator-size-main=4194304\"\n", + " \"memorysetup-job-temp-allocator-block-size=2097152\"\n", + " \"memorysetup-job-temp-allocator-block-size-background=1048576\"\n", + " \"memorysetup-job-temp-allocator-reduction-small-platforms=262144\"\n", + " \"memorysetup-temp-allocator-size-background-worker=32768\"\n", + " \"memorysetup-temp-allocator-size-job-worker=262144\"\n", + " \"memorysetup-temp-allocator-size-preload-manager=262144\"\n", + " \"memorysetup-temp-allocator-size-nav-mesh-worker=65536\"\n", + " \"memorysetup-temp-allocator-size-audio-worker=65536\"\n", + " \"memorysetup-temp-allocator-size-cloud-worker=32768\"\n", + " \"memorysetup-temp-allocator-size-gfx=262144\"\n", + "Connection confirmed\n", + "Video - Episode 1/1\n", + "Successfully reset.\n", + "10.0% reached.\n", + "20.0% reached.\n", + "30.0% reached.\n", + "40.0% reached.\n", + "50.0% reached.\n", + "60.0% reached.\n", + "70.0% reached.\n", + "80.0% reached.\n", + "90.0% reached.\n", + "100.0% reached.\n", + "ReachEnvelope data stored at '/home/florian/uitb-sim2vr/user-in-the-box-private/uitb_distance_controller-right_test.csv'.\n", + "\n", + "Creating ReachEnvelope video...\n", + "ReachEnvelope video stored at '/home/florian/uitb-sim2vr/user-in-the-box-private/uitb_distance_controller-right_test.mp4'.\n" + ] + } + ], + "source": [ + "if \"test_env\" in locals():\n", + " del test_env\n", + "\n", + "simulator_path = os.path.join(os.path.dirname(uitb.__path__[0]), \"simulators\", SIMULATOR_NAME)\n", + "test_env = uitb.Simulator.get(simulator_path, run_parameters=RUN_PARAMETERS, render_mode=\"rgb_array\", use_cloned=USE_CLONED)\n", + "\n", + "welded_body = test_env.config[\"simulation\"][\"task\"][\"kwargs\"][\"right_controller_body\"]\n", + "relpose = test_env.config[\"simulation\"][\"task\"][\"kwargs\"][\"right_controller_relpose\"]\n", + "endeffector_name = \"controller-right\" if USE_VR_CONTROLLER else welded_body\n", + "\n", + "video_output = True\n", + "num_episodes = 1\n", + "video_filename = f'/home/florian/uitb-sim2vr/user-in-the-box-private/uitb_distance_{endeffector_name}_test.mp4'\n", + "figure_filename = f'/home/florian/uitb-sim2vr/user-in-the-box-private/uitb_distance_{endeffector_name}_test.png'\n", + "table_filename = f'/home/florian/uitb-sim2vr/user-in-the-box-private/uitb_distance_{endeffector_name}_test.csv'\n", + "trajectories_table_columns = ['elv_angle_pos', 'shoulder_elv_pos'] + ['end-effector_xpos' + suffix for\n", + " suffix in ('_x', '_y', '_z')]\n", + "\n", + "uitb_test.ReachEnvelopeCheck(test_env,\n", + " USE_VR_CONTROLLER,\n", + " welded_body,\n", + " relpose,\n", + " endeffector_name,\n", + " trajectories_table_columns,\n", + " num_episodes,\n", + " video_output,\n", + " figure_filename,\n", + " table_filename,\n", + " video_filename\n", + " )" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Define target positions" + ] + }, + { + "cell_type": "code", + "execution_count": 7, + "metadata": {}, + "outputs": [ + { + "data": { + "text/html": [ + "
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" + ], + "text/plain": [ + " id j i local_x local_y global_x global_y global_z \\\n", + "0 0 0 0 -0.125 0.125 0.026594 0.940631 0.594708 \n", + "1 3 1 0 -0.125 0.000 0.026594 0.852242 0.506320 \n", + "2 6 2 0 -0.125 -0.125 0.026594 0.763854 0.417931 \n", + "3 1 0 1 0.000 0.125 0.151594 0.940631 0.594708 \n", + "4 4 1 1 0.000 0.000 0.151594 0.852242 0.506320 \n", + "5 7 2 1 0.000 -0.125 0.151594 0.763854 0.417931 \n", + "6 2 0 2 0.125 0.125 0.276594 0.940631 0.594708 \n", + "7 5 1 2 0.125 0.000 0.276594 0.852242 0.506320 \n", + "8 8 2 2 0.125 -0.125 0.276594 0.763854 0.417931 \n", + "0 0 0 0 -0.125 0.125 0.026594 1.194920 0.563642 \n", + "1 3 1 0 -0.125 0.000 0.026594 1.069920 0.563642 \n", + "2 6 2 0 -0.125 -0.125 0.026594 0.944920 0.563642 \n", + "3 1 0 1 0.000 0.125 0.151594 1.194920 0.563642 \n", + "4 4 1 1 0.000 0.000 0.151594 1.069920 0.563642 \n", + "5 7 2 1 0.000 -0.125 0.151594 0.944920 0.563642 \n", + "6 2 0 2 0.125 0.125 0.276594 1.194920 0.563642 \n", + "7 5 1 2 0.125 0.000 0.276594 1.069920 0.563642 \n", + "8 8 2 2 0.125 -0.125 0.276594 0.944920 0.563642 \n", + "0 0 0 0 -0.125 0.125 0.026594 1.475986 0.367931 \n", + "1 3 1 0 -0.125 0.000 0.026594 1.387598 0.456320 \n", + "2 6 2 0 -0.125 -0.125 0.026594 1.299209 0.544708 \n", + "3 1 0 1 0.000 0.125 0.151594 1.475986 0.367931 \n", + "4 4 1 1 0.000 0.000 0.151594 1.387598 0.456320 \n", + "5 7 2 1 0.000 -0.125 0.151594 1.299209 0.544708 \n", + "6 2 0 2 0.125 0.125 0.276594 1.475986 0.367931 \n", + "7 5 1 2 0.125 0.000 0.276594 1.387598 0.456320 \n", + "8 8 2 2 0.125 -0.125 0.276594 1.299209 0.544708 \n", + "\n", + " task_condition \n", + "0 13-01-15-low-medium \n", + "1 13-01-15-low-medium \n", + "2 13-01-15-low-medium \n", + "3 13-01-15-low-medium \n", + "4 13-01-15-low-medium \n", + "5 13-01-15-low-medium \n", + "6 13-01-15-low-medium \n", + "7 13-01-15-low-medium \n", + "8 13-01-15-low-medium \n", + "0 13-01-55-mid-medium \n", + "1 13-01-55-mid-medium \n", + "2 13-01-55-mid-medium \n", + "3 13-01-55-mid-medium \n", + "4 13-01-55-mid-medium \n", + "5 13-01-55-mid-medium \n", + "6 13-01-55-mid-medium \n", + "7 13-01-55-mid-medium \n", + "8 13-01-55-mid-medium \n", + "0 13-02-34-high-medium \n", + "1 13-02-34-high-medium \n", + "2 13-02-34-high-medium \n", + "3 13-02-34-high-medium \n", + "4 13-02-34-high-medium \n", + "5 13-02-34-high-medium \n", + "6 13-02-34-high-medium \n", + "7 13-02-34-high-medium \n", + "8 13-02-34-high-medium " + ] + }, + "execution_count": 7, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "# read Unity target coordinates from event files\n", + "task_condition_list = [\"13-01-15-low-medium\", \"13-01-55-mid-medium\", \"13-02-34-high-medium\"]\n", + "_target_info = pd.DataFrame()\n", + "for _task_condition in task_condition_list:\n", + " _filename = os.path.join(os.path.dirname(uitb.__path__[0]), \"datasets\", f\"vr-uitb-experiment/85/{_task_condition}/events.csv\")\n", + " with open(_filename, \"r\") as f:\n", + " _lines = f.read().split(\"\\n\")\n", + " _firstrowindex = np.where([\"grid mapping\" in _l for _l in _lines])[0][-1] + 1\n", + " _target_info_new = pd.DataFrame(np.vstack([np.fromstring(_i.replace(\"[\", \"\").strip(), dtype=float, sep=\" \") for _i in _lines[_firstrowindex-1].split(\"grid mapping\")[-1].split(\"]\")[:-1]]), columns=[\"id\", \"j\", \"i\", \"local_x\", \"local_y\", \"global_x\", \"global_y\", \"global_z\"]).astype(dict(zip([\"id\", \"j\", \"i\", \"local_x\", \"local_y\", \"global_x\", \"global_y\", \"global_z\"], [int, int, int, float, float, float, float, float])))\n", + " _target_info_new[\"task_condition\"] = _task_condition\n", + " _target_info = pd.concat((_target_info, _target_info_new))\n", + "_target_info" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Check reachability" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "Create figure" + ] + }, + { + "cell_type": "code", + "execution_count": 8, + "metadata": {}, + "outputs": [], + "source": [ + "import pandas as pd\n", + "import matplotlib.pyplot as plt\n", + "import matplotlib.animation as animation\n", + "import seaborn as sns\n", + "\n", + "sns.set_theme(style=\"white\") #, palette=None)\n", + "sns.reset_orig()" + ] + }, + { + "cell_type": "code", + "execution_count": 34, + "metadata": {}, + "outputs": [], + "source": [ + "%matplotlib inline\n", + "plt.close(\"all\")" + ] + }, + { + "cell_type": "code", + "execution_count": 69, + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "/tmp/ipykernel_2217850/3237228978.py:83: UserWarning: Tight layout not applied. The left and right margins cannot be made large enough to accommodate all axes decorations.\n", + " fig_distance.tight_layout()\n" + ] + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "ReachEnvelope figure stored at '/home/florian/uitb-sim2vr/user-in-the-box-private/uitb_distance_controller-right_test.png'.\n" + ] + }, + { + "data": { + "image/png": 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", + "text/plain": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "##TODO: disentangle code for regular figure plot and animation below; clean code\n", + "\n", + "fig_distance = plt.figure() #figsize=(15, 9)) #dpi=300)\n", + "ax_distance = fig_distance.add_subplot(projection='3d')\n", + "\n", + "############################\n", + "\n", + "_gradual = False #whether to gradually draw reach envelope lines #TODO: move to animation below\n", + "\n", + "############################\n", + "\n", + "ax_distance.clear()\n", + "\n", + "ax_distance.view_init(elev=0, azim=-90)\n", + "# ax_distance.view_init(elev=-180, azim=-135)\n", + "ax_distance.set_xlabel('x')\n", + "ax_distance.set_ylabel('y')\n", + "ax_distance.set_zlabel('z')\n", + "\n", + "distance_test = pd.read_csv(table_filename, index_col=0)\n", + "\n", + "#transfer reach envelope from MuJoCo to global Unity coordinates\n", + "distance_test_unity = distance_test.copy()\n", + "distance_test_unity.loc[:, \"end-effector_xpos_x\":\"end-effector_xpos_z\"] = np.array(distance_test_unity.apply(lambda x: np.array(list(test_env.task._transform_to_unity(x.loc[\"end-effector_xpos_x\":\"end-effector_xpos_z\"].values, test_env._data.body(\"controller-right\").xquat, apply_offset=True)[0].values())), axis=1).tolist())\n", + "# ax_distance.invert_yaxis()\n", + "\n", + "# ax_distance.scatter(distance_test_unity[\"end-effector_xpos_x\"], distance_test_unity[\"end-effector_xpos_z\"], distance_test_unity[\"end-effector_xpos_y\"], c=\"#eda840\", s=0.8, alpha=0.2)\n", + "if _gradual:\n", + " distance_lines, = ax_distance.plot(distance_test_unity[\"end-effector_xpos_x\"], distance_test_unity[\"end-effector_xpos_y\"], distance_test_unity[\"end-effector_xpos_z\"], c=\"#eda840\", alpha=0.2)\n", + "else:\n", + " ax_distance.scatter(distance_test_unity[\"end-effector_xpos_x\"], distance_test_unity[\"end-effector_xpos_y\"], distance_test_unity[\"end-effector_xpos_z\"], s=0.8, alpha=0.2)\n", + "\n", + "#plot shoulder\n", + "_shoulder_unity = np.array(list(test_env.task._transform_to_unity(test_env._data.body(\"clavicle\").xpos, test_env._data.body(\"clavicle\").xquat, apply_offset=True)[0].values()))\n", + "# ax_distance.scatter(*_shoulder_unity, marker=\"x\", c=\"black\", s=100)\n", + "ax_distance.scatter(_shoulder_unity[0], _shoulder_unity[1], _shoulder_unity[2], marker=\"x\", c=\"black\", s=100)\n", + "\n", + "# ax_distance.set_title(\"BioCheck: Reach Envelope\\n(MoblArmsWrist, Whac-a-mole)\")\n", + "ax_distance.text(0, 0, 0.8, \"ReachEnvelope Check\", size=13)\n", + "# ax_distance.title.set_position((0.5, -1))\n", + "ax_distance.set_yticklabels([])\n", + "ax_distance.grid(False)\n", + "\n", + "## plot targets from VR Application in global Unity coordinates\n", + "# _color_list = [\"#119bf4\", \"#8cda31\", \"#ff00ff\"]\n", + "_color_list = [\"#00ffff\", \"#8cda31\", \"#ff00ff\"]\n", + "for _idx, _task_condition in enumerate(_target_info[\"task_condition\"].unique()):\n", + " _target_info_selected = _target_info[_target_info[\"task_condition\"] == _task_condition]\n", + " ax_distance.scatter(_target_info_selected[\"global_x\"], _target_info_selected[\"global_y\"], _target_info_selected[\"global_z\"], label=_task_condition.lstrip('0123456789-').capitalize().split(\"-\")[0], c=_color_list[_idx])\n", + " # ax_distance.scatter(_target_info_selected[\"global_x\"], _target_info_selected[\"global_z\"], _target_info_selected[\"global_y\"], label=_task_condition.lstrip('0123456789-').capitalize().split(\"-\")[0], c=_color_list[_idx])\n", + "\n", + "# ## target region (from SciRep RL paper)\n", + "\n", + "# gphi = np.random.uniform(low=-1.57079633, high=0.698132, size=100000)\n", + "# #gphi = np.random.uniform(low=-1.57079633, high=-0.0872665, size=100000)\n", + "# gtheta = np.random.uniform(low=0, high=3.14159265, size=100000)\n", + "# gr = np.random.uniform(low=0.2, high=0.735, size=100000) #high=0.735\n", + "# #ax_distance.scatter(gr*np.cos(gphi)*np.sin(gtheta), gr*np.sin(gphi)*np.sin(gtheta), gr*np.cos(gtheta), s=0.8)\n", + "# ax_distance.scatter(gr*np.cos(gphi)*np.sin(gtheta), gr*np.cos(gtheta), -gr*np.sin(gphi)*np.sin(gtheta), s=0.1, alpha=0.1)\n", + "\n", + "# ## \"random_v2\":\n", + "\n", + "# thorax_offset = np.array([0.02153019919, 0.00858509793, -0.20849523568]) #for unscaled model: np.array([0.017555, 0.007, -0.17])\n", + "\n", + "# general_thorax_area = np.array([[-0.11157193, -0.32303762, -0.37799819], [0.12484449, 0.05684561, -0.03899228]])\n", + "# general_thorax_threshold = np.array([[-0.1, -2, -0.1], [0.1, 0.3, 0.1]])\n", + "# general_target_area = np.array([[0, -1, general_thorax_area[:, 2].mean()], [1, 1, 1]])\n", + "\n", + "# nsamples_randomv2 = 10000\n", + "# new_target = np.zeros((nsamples_randomv2,3))\n", + "# for i in range(nsamples_randomv2):\n", + "# draw_new_target = True\n", + "# while draw_new_target:\n", + "# new_target[i] = np.random.uniform(low=general_target_area[0], high=general_target_area[1], size=3)\n", + "# if (np.linalg.norm(new_target[i]) <= 0.735 + 0.05) & ((new_target[i] < (general_thorax_area[0] + general_thorax_threshold[0])) |\n", + "# (new_target[i] > (general_thorax_area[1] + general_thorax_threshold[1]))).any():\n", + "# draw_new_target = False\n", + "\n", + "# ax_distance.scatter(new_target[:, 0], new_target[:, 1], new_target[:, 2], s=0.1, alpha=0.5)\n", + "\n", + "ax_distance.legend(bbox_to_anchor=(0.9, 0.65)) #loc=\"right\") #loc=3)\n", + "# fig_distance.subplots_adjust(left=0.1, right=0.9, top=0.2, bottom=0.1)\n", + "fig_distance.tight_layout()\n", + "fig_distance.savefig(figure_filename)\n", + "print(f\"ReachEnvelope figure stored at '{figure_filename}'.\")\n", + "\n", + "fig_distance.tight_layout()" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "Create animation" + ] + }, + { + "cell_type": "code", + "execution_count": 25, + "metadata": {}, + "outputs": [ + { + "data": { + "application/vnd.jupyter.widget-view+json": { + "model_id": "bb13e78bf7f24625bcc1263de80b3beb", + "version_major": 2, + "version_minor": 0 + }, + "image/png": 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", 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\n", + " " + ], + "text/plain": [ + "Canvas(toolbar=Toolbar(toolitems=[('Home', 'Reset original view', 'home', 'home'), ('Back', 'Back to previous …" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "if \"fig_anim_distance\" in locals():\n", + " plt.close(\"fig_anim_distance\")\n", + "\n", + "fig_anim_distance = plt.figure() #dpi=300)\n", + "ax_anim_distance = fig_anim_distance.add_subplot(111, projection='3d')\n", + "\n", + "## 3D rotation animation\n", + "def init():\n", + " ax_anim_distance.clear()\n", + " ax_anim_distance.view_init(elev=10., azim=0)\n", + " \n", + " ax_anim_distance.set_xlabel('x')\n", + " ax_anim_distance.set_ylabel('z')\n", + " ax_anim_distance.set_zlabel('y')\n", + " \n", + " if _gradual:\n", + " global distance_lines\n", + " distance_lines, = ax_anim_distance.plot(distance_test_unity[\"end-effector_xpos_x\"], distance_test_unity[\"end-effector_xpos_z\"], distance_test_unity[\"end-effector_xpos_y\"], c=\"#eda840\", alpha=0.2)\n", + " else:\n", + " ax_anim_distance.scatter(distance_test_unity[\"end-effector_xpos_x\"], distance_test_unity[\"end-effector_xpos_z\"], distance_test_unity[\"end-effector_xpos_y\"], c=\"#eda840\", s=0.8, alpha=0.2)\n", + "\n", + " #plot shoulder\n", + " _shoulder_unity = np.array(list(test_env.task._transform_to_unity(test_env._data.body(\"clavicle\").xpos, test_env._data.body(\"clavicle\").xquat, apply_offset=True)[0].values()))\n", + " ax_anim_distance.scatter(_shoulder_unity[0], _shoulder_unity[2], _shoulder_unity[1], marker=\"x\", c=\"black\", s=100)\n", + "\n", + " for _idx, _task_condition in enumerate(_target_info[\"task_condition\"].unique()):\n", + " _target_info_selected = _target_info[_target_info[\"task_condition\"] == _task_condition]\n", + " ax_anim_distance.scatter(_target_info_selected[\"global_x\"], _target_info_selected[\"global_z\"], _target_info_selected[\"global_y\"], label=_task_condition.lstrip('0123456789-').capitalize().split(\"-\")[0], c=_color_list[_idx])\n", + " ax_anim_distance.legend()\n", + "\n", + " return fig_anim_distance,\n", + "\n", + "n_frames = 360\n", + "def animate(i):\n", + " if _gradual:\n", + " distance_lines.set_data(distance_test_unity[\"end-effector_xpos_x\"][:int(distance_test_unity.shape[0]*i/n_frames)], distance_test_unity[\"end-effector_xpos_z\"][:int(distance_test_unity.shape[0]*i/n_frames)],)\n", + " distance_lines.set_3d_properties(distance_test_unity[\"end-effector_xpos_y\"][:int(distance_test_unity.shape[0]*i/n_frames)])\n", + "\n", + " ax_anim_distance.view_init(elev=10., azim=i)\n", + " return fig_anim_distance,\n", + "\n", + "\n", + "# Animate\n", + "anim = animation.FuncAnimation(fig_anim_distance, animate, init_func=init,\n", + " frames=n_frames, interval=20, blit=True)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [ + { + "ename": "", + "evalue": "", + "output_type": "error", + "traceback": [ + "\u001b[1;31mThe Kernel crashed while executing code in the the current cell or a previous cell. Please review the code in the cell(s) to identify a possible cause of the failure. Click here for more info. View Jupyter log for further details." + ] + } + ], + "source": [ + "anim.save(f'uitb-vr_biocheck_animation{\"_gradual\" if _gradual else \"\"}.mp4', fps=30, extra_args=['-vcodec', 'libx264'])" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "uitb_gymnasium", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.3" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/hci/user-in-the-box/uitb/test/PhysicalAlignment/utils.py b/hci/user-in-the-box/uitb/test/PhysicalAlignment/utils.py new file mode 100644 index 00000000..aca4848c --- /dev/null +++ b/hci/user-in-the-box/uitb/test/PhysicalAlignment/utils.py @@ -0,0 +1,123 @@ +import pandas as pd +import numpy as np +import mujoco +from scipy.spatial.transform import Rotation + +## used for coordinate transformations +def transformation_matrix(pos, quat): + quat = np.roll(quat, -1) + matrix = Rotation.from_quat(quat).as_matrix() + + # Create the matrix + T = np.eye(4) + T[:3, :3] = matrix + T[:3, 3] = pos + return T + + +def ReachEnvelopeCheck(env, + use_vr_controller, + welded_body, + relpose, + endeffector_name, + trajectories_table_columns, + num_episodes, + video_output: bool, + figure_filename, + table_filename, + video_filename): + #return 123 + + trajectories_table = pd.DataFrame(columns=trajectories_table_columns) + #with imageio.get_writer(video_filename, fps=int(1 / (env._model.opt.timestep))) as video: + video = [] + + for video_episode_index in range(num_episodes): + print('Video - Episode {}/{}'.format(video_episode_index + 1, num_episodes)) + obs, info = env.reset() + print("Successfully reset.") + if video_output: + video.append(env.render()) + + nsteps_to_test = 100 + ##TODO: generalize to other biom. models (allow to define initial posture and list of joints over which to iterate) + range_elevation_angle = np.linspace( + env._model.joint('elv_angle').range[0], + env._model.joint('elv_angle').range[1], nsteps_to_test) + range_elevation = np.linspace( + env._model.joint('shoulder_elv').range[0], + env._model.joint('shoulder_elv').range[1], nsteps_to_test) + _steps = 0 + for i in range(nsteps_to_test): + for j in range(nsteps_to_test): + if (100*(_steps+1)/(nsteps_to_test**2) % 10) == 0: + print(f"{100*(_steps+1)/(nsteps_to_test**2)}% reached.") + + # if use_vr_controller: + # obs, info = env.reset() + env._data.joint('elv_angle').qpos = range_elevation_angle[i] + env._data.joint('shoulder_elv').qpos = range_elevation[j] + + # maximally extend the arm: + env._data.joint("elbow_flexion").qpos = env._model.joint("elbow_flexion").range[0] + + # adjust virtual joints according to active constraints: + _eq_act = getattr(env._model, "eq_active", None) + if _eq_act is None: + _eq_act = np.asarray(getattr(env._model, "eq_active0", np.ones(env._model.neq))) + for (virtual_joint_id, physical_joint_id, poly_coefs) in zip( + env._model.eq_obj1id[ + (env._model.eq_type == 2) & (_eq_act == 1)], + env._model.eq_obj2id[ + (env._model.eq_type == 2) & (_eq_act == 1)], + env._model.eq_data[(env._model.eq_type == 2) & + (_eq_act == 1), 4::-1]): + if physical_joint_id >= 0: + env._data.joint(virtual_joint_id).qpos = np.polyval(poly_coefs, env._data.joint(physical_joint_id).qpos) + # qpos[env._model.joint_name2id('shoulder1_r2')] = -qpos[env._model.joint_name2id( + # 'elv_angle')] # joint equality constraint between "elv_angle" and "shoulder1_r2" + + #env._data.qpos[:] = qpos + # if use_vr_controller: + # mujoco.mj_step(env._model, env._data) + # else: + # mujoco.mj_forward(env._model, env._data) + mujoco.mj_forward(env._model, env._data) + if video_output: + video.append(env.render()) + trajectories_table.loc[len(trajectories_table), :"shoulder_elv_pos"] = np.concatenate((env._data.joint('elv_angle').qpos, env._data.joint('shoulder_elv').qpos)) + if use_vr_controller: + #manually compute VR controller position using "right_controller_relpose" from config file and current position of the aux body/welded body + T1 = transformation_matrix(pos=env._data.body(welded_body).xpos, quat=env._data.body(welded_body).xquat) + T2 = transformation_matrix(pos=relpose[:3], quat=relpose[3:]) + T = np.matmul(T1, np.linalg.inv(T2)) + T[:3, 3] + trajectories_table.loc[len(trajectories_table) - 1, + "end-effector_xpos_x":"end-effector_xpos_z"] = T[:3, 3] + # _controller_quat = np.roll(Rotation.from_matrix(T[:3, :3]).as_quat(), 1) + else: + trajectories_table.loc[len(trajectories_table) - 1, + "end-effector_xpos_x":"end-effector_xpos_z"] = env._data.body(endeffector_name).xpos + # print(env._data.body(endeffector_name).xpos) + + _steps += 1 + + ## -> Store csv file + trajectories_table.to_csv(table_filename) + print(f"ReachEnvelope data stored at '{table_filename}'.") + + + ## -> Store mp4 file + print("\nCreating ReachEnvelope video...") + # temporarily override fps + _orig_fps = env._GUI_camera._fps + env._GUI_camera._fps = 100 + env._GUI_camera.write_video_set_path(video_filename) + # Write the video + # simulator._camera.write_video(imgs, os.path.join(evaluate_dir, args.out_file)) + for _img in video: + env._GUI_camera.write_video_add_frame(_img) + env._GUI_camera.write_video_close() + # reset to original fps from env + env._GUI_camera._fps = _orig_fps + print(f"ReachEnvelope video stored at '{video_filename}'.") diff --git a/hci/user-in-the-box/uitb/test/__init__.py b/hci/user-in-the-box/uitb/test/__init__.py new file mode 100644 index 00000000..fddecfd1 --- /dev/null +++ b/hci/user-in-the-box/uitb/test/__init__.py @@ -0,0 +1 @@ +from uitb.test.PhysicalAlignment.utils import ReachEnvelopeCheck \ No newline at end of file diff --git a/hci/user-in-the-box/uitb/test/__pycache__/__init__.cpython-311.pyc b/hci/user-in-the-box/uitb/test/__pycache__/__init__.cpython-311.pyc new file mode 100644 index 00000000..cff63d64 Binary files /dev/null and b/hci/user-in-the-box/uitb/test/__pycache__/__init__.cpython-311.pyc differ diff --git a/hci/user-in-the-box/uitb/test/__pycache__/evaluator.cpython-311.pyc b/hci/user-in-the-box/uitb/test/__pycache__/evaluator.cpython-311.pyc new file mode 100644 index 00000000..1178d246 Binary files /dev/null and b/hci/user-in-the-box/uitb/test/__pycache__/evaluator.cpython-311.pyc differ diff --git a/hci/user-in-the-box/uitb/test/evaluator.py b/hci/user-in-the-box/uitb/test/evaluator.py new file mode 100644 index 00000000..dfa4e328 --- /dev/null +++ b/hci/user-in-the-box/uitb/test/evaluator.py @@ -0,0 +1,269 @@ +import os +import numpy as np +from stable_baselines3 import PPO +import re +import argparse +import scipy.ndimage +from collections import defaultdict +import matplotlib.pyplot as pp +import cv2 + +from uitb.utils.logger import StateLogger, ActionLogger +from uitb.utils import interaction_metrics +from uitb.simulator import Simulator + +#from uitb.bm_models.effort_models import CumulativeFatigue3CCr, ConsumedEndurance + + +def natural_sort(l): + convert = lambda text: int(text) if text.isdigit() else text.lower() + alphanum_key = lambda key: [convert(c) for c in re.split('([0-9]+)', key)] + return sorted(l, key=alphanum_key) + + +### DEPRECATED, use simulator.render() instead +# def grab_pip_image(simulator): +# # Grab an image from both 'for_testing' camera and 'oculomotor' camera, and display them 'picture-in-picture' +# +# # Grab images +# img, _ = simulator._GUI_camera.render() +# +# ocular_img = None +# for module in simulator.perception.perception_modules: +# if module.modality == "vision": +# # TODO would be better to have a class function that returns "human-viewable" rendering of the observation; +# # e.g. in case the vision model has two cameras, or returns a combination of rgb + depth images etc. +# ocular_img, _ = module._camera.render() +# +# if ocular_img is not None: +# +# # Resample +# resample_factor = 2 +# resample_height = ocular_img.shape[0]*resample_factor +# resample_width = ocular_img.shape[1]*resample_factor +# resampled_img = np.zeros((resample_height, resample_width, 3), dtype=np.uint8) +# for channel in range(3): +# resampled_img[:, :, channel] = scipy.ndimage.zoom(ocular_img[:, :, channel], resample_factor, order=0) +# +# # Embed ocular image into free image +# i = simulator._GUI_camera.height - resample_height +# j = simulator._GUI_camera.width - resample_width +# img[i:, j:] = resampled_img +# +# return img + + +if __name__ == "__main__": + + parser = argparse.ArgumentParser(description='Evaluate a policy.') + parser.add_argument('simulator_folder', type=str, + help='the simulation folder') + parser.add_argument('--action_sample_freq', type=float, default=20, + help='action sample frequency (how many times per second actions are sampled from policy, default: 20)') + parser.add_argument('--checkpoint', type=str, default=None, + help='filename of a specific checkpoint (default: None, latest checkpoint is used)') + parser.add_argument('--num_episodes', type=int, default=10, + help='how many episodes are evaluated (default: 10)') + parser.add_argument('--uncloned', dest="cloned", action='store_false', help='use source code instead of files from cloned simulator module') + parser.add_argument('--app_condition', type=str, default=None, + help="can be used to override the 'condition' argument passed to a Unity app") + parser.add_argument('--record', action='store_true', help='enable recording') + parser.add_argument('--human', action='store_true', help='enable real-time PyGame rendering window') + parser.add_argument('--out_file', type=str, default='evaluate.mp4', + help='output file for recording if recording is enabled (default: ./evaluate.mp4)') + parser.add_argument('--logging', action='store_true', help='enable logging') + parser.add_argument('--state_log_file', default='state_log', + help='output file for state log if logging is enabled (default: ./state_log)') + parser.add_argument('--action_log_file', default='action_log', + help='output file for action log if logging is enabled (default: ./action_log)') + parser.add_argument('--metrics', action='store_true', + help='汇总人机交互精度指标（指向/跟踪：指尖-目标距离 RMSE 等；遥控驾驶：车-目标距离与停车成功率）') + parser.add_argument('--deterministic', action='store_true', + help='策略评测时使用确定性动作（降低方差，便于对比控制精度）') + args = parser.parse_args() + + # Define directories + checkpoint_dir = os.path.join(args.simulator_folder, 'checkpoints') + evaluate_dir = os.path.join(args.simulator_folder, 'evaluate') + + # Make sure output dir exists + os.makedirs(evaluate_dir, exist_ok=True) + + # Override run parameters + run_params = dict() + run_params["action_sample_freq"] = args.action_sample_freq + run_params["evaluate"] = True + + run_params["unity_record_gameplay"] = args.record #False + run_params["unity_logging"] = True + run_params["unity_output_folder"] = evaluate_dir + if args.app_condition is not None: + run_params["app_args"] = ['-condition', args.app_condition] + # run_params["unity_random_seed"] = 123 + + # Embed visual observations into main mp4 or store as separate mp4 files + render_mode_perception = "separate" if run_params["unity_record_gameplay"] else "embed" + + deterministic = bool(args.deterministic) + + # Initialise simulator + _render_mode = "human" if args.human else "rgb_array_list" + simulator = Simulator.get(args.simulator_folder, render_mode=_render_mode, render_mode_perception=render_mode_perception, run_parameters=run_params, use_cloned=args.cloned) + task_name = simulator.task.__class__.__name__ + metric_episodes = [] + + # ## Change effort model #TODO: delete + # simulator.bm_model._effort_model = CumulativeFatigue3CCr(simulator.bm_model, dt=simulator._run_parameters["dt"]) + + print(f"run parameters are: {simulator.run_parameters}") + + # Load latest model if filename not given + _policy_loaded = False + if args.checkpoint is not None: + model_file = args.checkpoint + _policy_loaded = True + else: + try: + files = natural_sort(os.listdir(checkpoint_dir)) + model_file = files[-1] + _policy_loaded = True + except (FileNotFoundError, IndexError): + print("No checkpoint found. Will continue evaluation with randomly sampled controls.") + + if _policy_loaded: + # Load policy TODO should create a load method for uitb.rl.BaseRLModel + print(f'Loading model: {os.path.join(checkpoint_dir, model_file)}\n') + model = PPO.load(os.path.join(checkpoint_dir, model_file)) + + # Set callbacks to match the value used for this training point (if the simulator had any) + simulator.update_callbacks(model.num_timesteps) + + if args.logging: + # Initialise log + state_logger = StateLogger(args.num_episodes, keys=simulator.get_state().keys()) + + # Actions are logged separately to make things easier + action_logger = ActionLogger(args.num_episodes) + + # Visualise evaluations + # statistics = defaultdict(list) + for episode_idx in range(args.num_episodes): + + print(f"Run episode {episode_idx + 1}/{args.num_episodes}.") + + # Reset environment + obs, info = simulator.reset() + terminated = False + truncated = False + reward = 0 + + if args.metrics: + episode_dist_samples = [] + episode_inside = [] + episode_car = [] + + if args.logging: + state = simulator.get_state() + state_logger.log(episode_idx, state) + + # Loop until episode ends + while not terminated and not truncated: + # #print(f"Episode {episode_idx}: {simulator.get_episode_statistics_str()}") + # print(reward) + + if _policy_loaded: + # Get actions from policy + action, _internal_policy_state = model.predict(obs, deterministic=deterministic) + else: + # choose random action from action space + action = simulator.action_space.sample() + + # Take a step + obs, r, terminated, truncated, info = simulator.step(action) + reward += r + + if args.metrics: + st = simulator.get_state() + st.update(info) + if task_name in ("Pointing", "Tracking", "SmallObjectTouch"): + if "dist_to_target_center" in st: + episode_dist_samples.append(float(st["dist_to_target_center"])) + episode_inside.append(bool(info.get("inside_target", False))) + elif task_name == "RemoteDriving": + if "dist_car_to_target" in st: + episode_car.append(float(st["dist_car_to_target"])) + + if args.logging: + action_logger.log(episode_idx, + {"steps": state["steps"], "timestep": state["timestep"], "action": action.copy(), + "reward": r}) + state = simulator.get_state() + state.update(info) + state_logger.log(episode_idx, state) + + if args.metrics: + st_end = simulator.get_state() + st_end.update(info) + if task_name in ("Pointing", "Tracking", "SmallObjectTouch"): + ep = {"dist_samples": list(episode_dist_samples), + "inside_target_frac": interaction_metrics.inside_fraction(episode_inside)} + if task_name in ("Pointing", "SmallObjectTouch"): + ep["targets_hit"] = int(st_end.get("targets_hit", 0)) + metric_episodes.append(ep) + elif task_name == "RemoteDriving": + metric_episodes.append({ + "dist_car_samples": list(episode_car), + "target_parking_success": bool(st_end.get("target_hit", False)), + "min_dist_car": float(min(episode_car)) if episode_car else float("nan"), + }) + + # print(f"Episode {episode_idx}: {simulator.get_episode_statistics_str()}") + + # episode_statistics = simulator.get_episode_statistics() + # for key in episode_statistics: + # statistics[key].append(episode_statistics[key]) + + # print(f'Averages over {args.num_episodes} episodes (std in parenthesis):', + # ', '.join(['{}: {:.2f} ({:.2f})'.format(k, np.mean(v), np.std(v)) for k, v in statistics.items()])) + + if args.metrics: + if task_name in ("Pointing", "Tracking", "SmallObjectTouch", "RemoteDriving"): + interaction_metrics.print_run_summary(task_name, metric_episodes) + else: + print(f"提示: 任务「{task_name}」暂无内置自动指标；请使用 --logging 记录状态后离线分析，" + f"或在 uitb/utils/interaction_metrics.py 中扩展。") + + if args.logging: + # Output log + state_logger.save(os.path.join(evaluate_dir, args.state_log_file)) + action_logger.save(os.path.join(evaluate_dir, args.action_log_file)) + print(f'Log files have been saved files {os.path.join(evaluate_dir, args.state_log_file)}.pickle and ' + f'{os.path.join(evaluate_dir, args.action_log_file)}.pickle') + + if args.record: + simulator._GUI_camera.write_video_set_path(os.path.join(evaluate_dir, args.out_file)) + + # Write the video + # simulator._camera.write_video(imgs, os.path.join(evaluate_dir, args.out_file)) + _imgs = simulator.render() + for _img in _imgs: + simulator._GUI_camera.write_video_add_frame(_img) + + simulator._GUI_camera.write_video_close() + print(f'A recording has been saved to file {os.path.join(evaluate_dir, args.out_file)}') + + # Write additional videos for each perception module camera (only if simulator._render_mode_perception == "separate") + if simulator._render_mode_perception == "separate": + _perception_imgs = simulator.get_render_stack_perception() + for _module_name, _imgs in _perception_imgs.items(): + _out_file = os.path.splitext(args.out_file)[0] + f"_{_module_name.replace('/', '-')}" + os.path.splitext(args.out_file)[1] + + fourcc = cv2.VideoWriter_fourcc(*'mp4v') + out = cv2.VideoWriter(os.path.join(evaluate_dir, _out_file), fourcc, simulator._GUI_camera._fps, (_imgs[0].shape[1], _imgs[0].shape[0])) + # out.open(_out_file) + for img in _imgs: + out.write(cv2.cvtColor(np.uint8(img), cv2.COLOR_BGR2RGB)) + out.release() + print(f'A recording has been saved to file {os.path.join(evaluate_dir, _out_file)}') + + simulator.close() diff --git a/hci/user-in-the-box/uitb/test/llc_controller.py b/hci/user-in-the-box/uitb/test/llc_controller.py new file mode 100644 index 00000000..63d88a07 --- /dev/null +++ b/hci/user-in-the-box/uitb/test/llc_controller.py @@ -0,0 +1,266 @@ +import os +import numpy as np +np.set_printoptions(precision=2, suppress=True) +from stable_baselines3 import PPO +import re +import argparse +import scipy.ndimage +from collections import defaultdict +import matplotlib.pyplot as pp +import matplotlib +matplotlib.use('TkAgg') +import cv2 +from time import sleep +import queue +from pynput.keyboard import Listener, Key + +from uitb.utils.logger import StateLogger, ActionLogger +from uitb.simulator import Simulator + + +def natural_sort(l): + convert = lambda text: int(text) if text.isdigit() else text.lower() + alphanum_key = lambda key: [convert(c) for c in re.split('([0-9]+)', key)] + return sorted(l, key=alphanum_key) + +def grab_pip_image(simulator): + # Grab an image from both 'for_testing' camera and 'oculomotor' camera, and display them 'picture-in-picture' + + # Visualise muscle actuation + simulator._model.tendon_rgba[:, 0] = 0.3 + simulator._data.ctrl * 0.7 + + # Grab images + img, _ = simulator._GUI_camera.render() + + ocular_img = None + for module in simulator.perception.perception_modules: + if module.modality == "vision": + # TODO would be better to have a class function that returns "human-viewable" rendering of the observation; + # e.g. in case the vision model has two cameras, or returns a combination of rgb + depth images etc. + ocular_img, _ = module._camera.render() + + # Set back to default + simulator._model.tendon_rgba[:, 0] = 0.95 + + if ocular_img is not None: + + # Resample + resample_factor = 2 + resample_height = ocular_img.shape[0]*resample_factor + resample_width = ocular_img.shape[1]*resample_factor + resampled_img = np.zeros((resample_height, resample_width, 3), dtype=np.uint8) + for channel in range(3): + resampled_img[:, :, channel] = scipy.ndimage.zoom(ocular_img[:, :, channel], resample_factor, order=0) + + # Embed ocular image into free image + i = simulator._GUI_camera.height - resample_height + j = simulator._GUI_camera.width - resample_width + img[i:, j:] = resampled_img + + return img + +# def read_keyboard(queue): +# # Wait for input from user +# input = + +def on_press(key): + try: + + # Exit with esc + if key == Key.esc: + return False + + # Set to initial position with space + elif key == Key.space: + q.put(("set", initial_position.copy())) + + # First joint + elif key.char == "1": + q.put(("add", np.array([0.5, 0, 0, 0, 0]))) + elif key.char == "q": + q.put(("add", np.array([0.1, 0, 0, 0, 0]))) + elif key.char == "a": + q.put(("add", np.array([-0.1, 0, 0, 0, 0]))) + elif key.char == "z": + q.put(("add", np.array([-0.5, 0, 0, 0, 0]))) + + # Second joint + elif key.char == "2": + q.put(("add", np.array([0, 0.5, 0, 0, 0]))) + elif key.char == "w": + q.put(("add", np.array([0, 0.1, 0, 0, 0]))) + elif key.char == "s": + q.put(("add", np.array([0, -0.1, 0, 0, 0]))) + elif key.char == "x": + q.put(("add", np.array([0, -0.5, 0, 0, 0]))) + + # Third joint + elif key.char == "3": + q.put(("add", np.array([0, 0, 0.5, 0, 0]))) + elif key.char == "e": + q.put(("add", np.array([0, 0, 0.1, 0, 0]))) + elif key.char == "d": + q.put(("add", np.array([0, 0, -0.1, 0, 0]))) + elif key.char == "c": + q.put(("add", np.array([0, 0, -0.5, 0, 0]))) + + # Fourth joint + elif key.char == "4": + q.put(("add", np.array([0, 0, 0, 0.5, 0]))) + elif key.char == "r": + q.put(("add", np.array([0, 0, 0, 0.1, 0]))) + elif key.char == "f": + q.put(("add", np.array([0, 0, 0, -0.1, 0]))) + elif key.char == "v": + q.put(("add", np.array([0, 0, 0, -0.5, 0]))) + + # Fifth joint + elif key.char == "5": + q.put(("add", np.array([0, 0, 0, 0, 0.5]))) + elif key.char == "t": + q.put(("add", np.array([0, 0, 0, 0, 0.1]))) + elif key.char == "g": + q.put(("add", np.array([0, 0, 0, 0, -0.1]))) + elif key.char == "b": + q.put(("add", np.array([0, 0, 0, 0, -0.5]))) + + else: + return + + except AttributeError: + pass + +if __name__=="__main__": + + parser = argparse.ArgumentParser(description='Evaluate a policy.') + parser.add_argument('simulator_folder', type=str, + help='the simulation folder') + parser.add_argument('--action_sample_freq', type=float, default=100, + help='action sample frequency (how many times per second actions are sampled from policy, default: 20)') + parser.add_argument('--checkpoint', type=str, default=None, + help='filename of a specific checkpoint (default: None, latest checkpoint is used)') + parser.add_argument('--logging', action='store_true', help='enable logging') + parser.add_argument('--state_log_file', default='controller_state_log', + help='output file for state log if logging is enabled (default: ./controller_state_log)') + parser.add_argument('--action_log_file', default='controller_action_log', + help='output file for action log if logging is enabled (default: ./controller_action_log)') + args = parser.parse_args() + + # Define directories + checkpoint_dir = os.path.join(args.simulator_folder, 'checkpoints') + evaluate_dir = os.path.join(args.simulator_folder, 'evaluate') + + # Make sure output dir exists + os.makedirs(evaluate_dir, exist_ok=True) + + # Override run parameters + run_params = dict() + run_params["action_sample_freq"] = args.action_sample_freq + run_params["evaluate"] = True + + # Use deterministic actions? + deterministic = True + + # Initialise simulator + simulator = Simulator.get(args.simulator_folder, run_parameters=run_params) + + print(f"run parameters are: {simulator.run_parameters}\n") + + # Load latest model if filename not given + if args.checkpoint is not None: + model_file = args.checkpoint + else: + files = natural_sort(os.listdir(checkpoint_dir)) + model_file = files[-1] + + # Load policy TODO should create a load method for uitb.rl.BaseRLModel + print(f'Loading model: {os.path.join(checkpoint_dir, model_file)}\n') + model = PPO.load(os.path.join(checkpoint_dir, model_file)) + + # Set callbacks to match the value used for this training point (if the simulator had any) + simulator.update_callbacks(model.num_timesteps) + + if args.logging: + + # Initialise log + state_logger = StateLogger(args.num_episodes, keys=simulator.get_state().keys()) + + # Actions are logged separately to make things easier + action_logger = ActionLogger(args.num_episodes) + + # Visualise evaluations + statistics = defaultdict(list) + imgs = [] + + # Reset environment + simulator.reset() + simulator.task._target_qpos[:] = simulator.task._qpos.copy() + initial_position = simulator.task._qpos.copy() + obs = simulator.get_observation() + + + if args.logging: + state = simulator.get_state() + state_logger.log(0, state) + + # Initialise a queue so we can share data between threads + q = queue.Queue() + + # Start a keyboard press reader in a thread + # keyboard_reader = threading.Thread(target=read_keyboard, args=(q,), daemon=True) + # keyboard_reader.start() + # listener = Listener(on_press=lambda event: on_press(event, q)) + listener = Listener(on_press=on_press) + listener.start() + + # Run simulation here in main thread + while True: + + # If listener has exited (user pressed 'esc'), break + if not listener.is_alive(): + break + + # Read queue + if not q.empty(): + action = q.get() + if action[0] == "add": + simulator.task._target_qpos = np.clip(simulator.task._target_qpos + action[1], -1, 1) + elif action[0] == "set": + simulator.task._target_qpos = action[1] + obs = simulator.get_observation() + print(simulator.task._target_qpos) + + # Get actions from policy + action, _states = model.predict(obs, deterministic=deterministic) + + # Take a step + obs, r, terminated, truncated, info = simulator.step(action) + + if args.logging: + action_logger.log(0, {"steps": state["steps"], "timestep": state["timestep"], "action": action.copy(), + "reward": r}) + state = simulator.get_state() + state.update(info) + state_logger.log(0, state) + + # Do some rendering + img = grab_pip_image(simulator) + qpos = simulator.task._target_qpos + cv2.putText(img, f'{qpos[0]:.2f} elevation angle', (700, 50), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 2, cv2.LINE_AA) + cv2.putText(img, f'{qpos[1]:.2f} shoulder elevation', (700, 100), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 2, cv2.LINE_AA) + cv2.putText(img, f'{qpos[2]:.2f} shoulder rotation', (700, 150), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 2, cv2.LINE_AA) + cv2.putText(img, f'{qpos[3]:.2f} elbow flexion', (700, 200), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 2, cv2.LINE_AA) + cv2.putText(img, f'{qpos[4]:.2f} pronation/supination', (700, 250), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 2, cv2.LINE_AA) + cv2.imshow("simulation", np.flip(img, axis=2)/255) + cv2.waitKey(1) + # sleep(0.01) + + # Run keyboard press reader in another thread + + + if args.logging: + # Output log + state_logger.save(os.path.join(evaluate_dir, args.state_log_file)) + action_logger.save(os.path.join(evaluate_dir, args.action_log_file)) + print(f'Log files have been saved files {os.path.join(evaluate_dir, args.state_log_file)}.pickle and ' + f'{os.path.join(evaluate_dir, args.action_log_file)}.pickle') diff --git a/hci/user-in-the-box/uitb/utils/__init__.py b/hci/user-in-the-box/uitb/utils/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/hci/user-in-the-box/uitb/utils/__pycache__/__init__.cpython-311.pyc b/hci/user-in-the-box/uitb/utils/__pycache__/__init__.cpython-311.pyc new file mode 100644 index 00000000..51ce53da Binary files /dev/null and b/hci/user-in-the-box/uitb/utils/__pycache__/__init__.cpython-311.pyc differ diff --git a/hci/user-in-the-box/uitb/utils/__pycache__/__simulatorsdir__.cpython-311.pyc b/hci/user-in-the-box/uitb/utils/__pycache__/__simulatorsdir__.cpython-311.pyc new file mode 100644 index 00000000..48fe720b Binary files /dev/null and b/hci/user-in-the-box/uitb/utils/__pycache__/__simulatorsdir__.cpython-311.pyc differ diff --git a/hci/user-in-the-box/uitb/utils/__pycache__/element_tree.cpython-311.pyc b/hci/user-in-the-box/uitb/utils/__pycache__/element_tree.cpython-311.pyc new file mode 100644 index 00000000..cfbf40b3 Binary files /dev/null and b/hci/user-in-the-box/uitb/utils/__pycache__/element_tree.cpython-311.pyc differ diff --git a/hci/user-in-the-box/uitb/utils/__pycache__/functions.cpython-311.pyc b/hci/user-in-the-box/uitb/utils/__pycache__/functions.cpython-311.pyc new file mode 100644 index 00000000..430c2d68 Binary files /dev/null and b/hci/user-in-the-box/uitb/utils/__pycache__/functions.cpython-311.pyc differ diff --git a/hci/user-in-the-box/uitb/utils/__pycache__/interaction_metrics.cpython-311.pyc b/hci/user-in-the-box/uitb/utils/__pycache__/interaction_metrics.cpython-311.pyc new file mode 100644 index 00000000..e0324758 Binary files /dev/null and b/hci/user-in-the-box/uitb/utils/__pycache__/interaction_metrics.cpython-311.pyc differ diff --git a/hci/user-in-the-box/uitb/utils/__pycache__/logger.cpython-311.pyc b/hci/user-in-the-box/uitb/utils/__pycache__/logger.cpython-311.pyc new file mode 100644 index 00000000..8da14390 Binary files /dev/null and b/hci/user-in-the-box/uitb/utils/__pycache__/logger.cpython-311.pyc differ diff --git a/hci/user-in-the-box/uitb/utils/__pycache__/rendering.cpython-311.pyc b/hci/user-in-the-box/uitb/utils/__pycache__/rendering.cpython-311.pyc new file mode 100644 index 00000000..ca0bc462 Binary files /dev/null and b/hci/user-in-the-box/uitb/utils/__pycache__/rendering.cpython-311.pyc differ diff --git a/hci/user-in-the-box/uitb/utils/__pycache__/transformations.cpython-311.pyc b/hci/user-in-the-box/uitb/utils/__pycache__/transformations.cpython-311.pyc new file mode 100644 index 00000000..f549d6dc Binary files /dev/null and b/hci/user-in-the-box/uitb/utils/__pycache__/transformations.cpython-311.pyc differ diff --git a/hci/user-in-the-box/uitb/utils/__pycache__/unity.cpython-311.pyc b/hci/user-in-the-box/uitb/utils/__pycache__/unity.cpython-311.pyc new file mode 100644 index 00000000..717319c5 Binary files /dev/null and b/hci/user-in-the-box/uitb/utils/__pycache__/unity.cpython-311.pyc differ diff --git a/hci/user-in-the-box/uitb/utils/__simulatorsdir__.py b/hci/user-in-the-box/uitb/utils/__simulatorsdir__.py new file mode 100644 index 00000000..b51240c7 --- /dev/null +++ b/hci/user-in-the-box/uitb/utils/__simulatorsdir__.py @@ -0,0 +1,4 @@ +# This file is read-only and should not be modified manually! +# To use a different output directory, set the 'simulator_folder' tag in the config file. + +SIMULATORS_DIR = 'D:\\biye\\user-in-the-box\\simulators' \ No newline at end of file diff --git a/hci/user-in-the-box/uitb/utils/element_tree.py b/hci/user-in-the-box/uitb/utils/element_tree.py new file mode 100644 index 00000000..286d326a --- /dev/null +++ b/hci/user-in-the-box/uitb/utils/element_tree.py @@ -0,0 +1,41 @@ +import copy +import xml.etree.ElementTree as ET + +def create(root, name): + # Creates an element if it doesn't exist + element = root.find(name) + if element is None: + root.append(ET.Element(name)) + +def copy_or_append(name, src, dst): + element = src.find(name) + if element is None: + return + + if dst.find(name) is None: + el = copy.deepcopy(element) + wb = dst.find("worldbody") + if wb is not None and name == "default": + dst.insert(list(dst).index(wb), el) + else: + dst.append(el) + else: + dst.find(name).append(copy.deepcopy(element)) + +def copy_children(name, src, dst, exclude=None): + + # Check if there is something to copy + elements = src.find(name) + + if elements is not None: + + # Create an element if necessary + create(dst, name) + + # Copy each element except ones that are excluded + for element in elements: + if exclude is not None and \ + element.tag == exclude["tag"] and element.attrib[exclude["attrib"]] == exclude["name"]: + continue + else: + dst.find(name).append(element) \ No newline at end of file diff --git a/hci/user-in-the-box/uitb/utils/elements.py b/hci/user-in-the-box/uitb/utils/elements.py new file mode 100644 index 00000000..036d7854 --- /dev/null +++ b/hci/user-in-the-box/uitb/utils/elements.py @@ -0,0 +1,6 @@ + + +class Element: + def __init__(self, tag, **kwargs): + self.tag = tag + self.attrib = kwargs \ No newline at end of file diff --git a/hci/user-in-the-box/uitb/utils/functions.py b/hci/user-in-the-box/uitb/utils/functions.py new file mode 100644 index 00000000..eb60f3f3 --- /dev/null +++ b/hci/user-in-the-box/uitb/utils/functions.py @@ -0,0 +1,103 @@ +from scipy.spatial.transform import Rotation +import pathlib +import os +from datetime import datetime +import sys +import select +import numpy as np +import re + +from ruamel.yaml import YAML +import importlib + +from .transformations import transformation_matrix + + +def parent_path(file): + return pathlib.Path(file).parent.absolute() + +def project_path(): + return pathlib.Path(__file__).parent.parent.absolute() + +def output_path(): + try: + from .__simulatorsdir__ import SIMULATORS_DIR + except (ModuleNotFoundError, ImportError): + SIMULATORS_DIR = os.path.join(project_path().parent.absolute(), "simulators") + return SIMULATORS_DIR + +def strtime(): + return datetime.utcfromtimestamp(datetime.now().timestamp()).strftime('%Y-%m-%dT%H-%M-%SZ') + +def timeout_input(prompt, timeout=30, default=""): + print(prompt, end='\n>> ', flush=True) + inputs, outputs, errors = select.select([sys.stdin], [], [], timeout) + print() + return sys.stdin.readline().strip() if inputs else default + +# Numerically stable sigmoid +def sigmoid(x): + return np.exp(-np.logaddexp(0, -x)) + +def is_suitable_package_name(name): + match = re.match("^[a-z0-9_]*$", name) + return match is not None and name[0].isalpha() + +def parse_yaml(yaml_file): + yaml = YAML() + with open(yaml_file, 'r') as stream: + parsed = yaml.load(stream) + return parsed + +def write_yaml(data, file): + yaml = YAML() + with open(file, "w") as stream: + yaml.dump(data, stream) + +def img_history(imgs, k=0.9): + + # Make sure intensities are properly normalised + N = len(imgs) + + img = np.zeros_like(imgs[0], dtype=np.float) + norm = 0 + + for i in range(N): + coeff = np.exp(-((N-1)-i)*k) + img += coeff * imgs[i] + norm += coeff + + return img / (255*norm) + +def importer(import_info): + """ Imports a class or a function from given module and returns it. + + Args: + import_info: A dict, must contain keyword 'module'. If neither keywords 'cls' nor 'function' are defined, the module + is returned. Otherwise, if 'cls' or 'function' is defined, the importer tries to import and return either an + object of the given class, or a function from the given module + """ + + # Make sure "module" is defined + if "module" not in import_info: + raise RuntimeError(f"The import info {import_info} is missing keyword 'module'") + + # Import the module + module = importlib.import_module(f"{__package__.split('.')[0]}.{import_info['module']}") + + # Check whether "cls" or "function" is defined + if not any(k in import_info for k in {"cls", "function"}): + return module + else: + imp = import_info["cls"] if "cls" in import_info else import_info["function"] + instance = getattr(module, imp) + return instance + + +def initialise_pos_and_quat(model, data, aux_body, relpose, body): + """ Initialise pos and quat of body according to the relpose wrt to aux_body""" + T1 = transformation_matrix(pos=data.body(aux_body).xpos, quat=data.body(aux_body).xquat) + T2 = transformation_matrix(pos=relpose[:3], quat=relpose[3:]) + T = np.matmul(T1, np.linalg.inv(T2)) + model.body(body).pos = T[:3, 3] + model.body(body).quat = np.roll(Rotation.from_matrix(T[:3, :3]).as_quat(), 1) diff --git a/hci/user-in-the-box/uitb/utils/interaction_metrics.py b/hci/user-in-the-box/uitb/utils/interaction_metrics.py new file mode 100644 index 00000000..924d55d1 --- /dev/null +++ b/hci/user-in-the-box/uitb/utils/interaction_metrics.py @@ -0,0 +1,125 @@ +"""人机交互评测指标：用于指向/跟踪精度、遥控驾驶（类方向盘）等离线或在线汇总。 + +支持两种使用方式： + 1. evaluator.py --metrics 自动评测（原有） + 2. teleop 脚本人工操控后调用 collect_episode_metrics / print_run_summary +""" +from __future__ import annotations + +import csv +import io +import os +from typing import Any, Dict, List, Sequence + +import numpy as np + + +def scalar_stats(values: Sequence[float]) -> Dict[str, float]: + if not values: + return {"n": 0.0, "rmse": float("nan"), "mae": float("nan"), "mean": float("nan"), "std": float("nan")} + arr = np.asarray(values, dtype=np.float64) + return { + "n": float(arr.size), + "rmse": float(np.sqrt(np.mean(arr ** 2))), + "mae": float(np.mean(np.abs(arr))), + "mean": float(np.mean(arr)), + "std": float(np.std(arr)), + } + + +def inside_fraction(flags: Sequence[bool]) -> float: + if not flags: + return float("nan") + return float(np.mean(np.asarray(flags, dtype=np.float64))) + + +def format_stats_line(prefix: str, stats: Dict[str, float]) -> str: + if stats.get("n", 0) == 0: + return f"{prefix}: (无样本)" + return ( + f"{prefix}: n={int(stats['n'])}, RMSE={stats['rmse']:.5f}, MAE={stats['mae']:.5f}, " + f"mean={stats['mean']:.5f}, std={stats['std']:.5f}" + ) + + +# --------------------------------------------------------------------------- +# Teleop episode metric collection +# --------------------------------------------------------------------------- + +def collect_episode_metrics( + task_name: str, + dist_samples: List[float], + inside_flags: List[bool] | None = None, + targets_hit: int = 0, + extra: Dict[str, Any] | None = None, +) -> Dict[str, Any]: + ep: Dict[str, Any] = { + "task": task_name, + "dist_samples": list(dist_samples), + "inside_target_frac": inside_fraction(inside_flags) if inside_flags else float("nan"), + "targets_hit": targets_hit, + } + ep.update(scalar_stats(dist_samples)) + if extra: + ep.update(extra) + return ep + + +def export_csv(episodes: List[Dict[str, Any]], path: str) -> None: + if not episodes: + return + cols = ["task", "n", "rmse", "mae", "mean", "std", "inside_target_frac", "targets_hit"] + extra_keys = sorted({k for ep in episodes for k in ep if k not in cols and k != "dist_samples" + and k != "inside_flags" and k != "dist_car_samples"}) + cols.extend(extra_keys) + with open(path, "w", newline="", encoding="utf-8") as f: + w = csv.DictWriter(f, fieldnames=cols, extrasaction="ignore") + w.writeheader() + for ep in episodes: + w.writerow({k: ep.get(k, "") for k in cols}) + print(f"指标已导出: {os.path.abspath(path)}") + + +# --------------------------------------------------------------------------- +# Run summary (used by evaluator and teleop scripts) +# --------------------------------------------------------------------------- + +def print_run_summary(task_name: str, episodes: List[Dict[str, Any]], csv_path: str | None = None) -> None: + print("\n========== 人机交互评测摘要 ==========") + print(f"任务类型: {task_name} | 回合数: {len(episodes)}") + if not episodes: + print("(无回合数据)") + return + + if task_name in ("Pointing", "Tracking", "SmallObjectTouch"): + pooled: List[float] = [] + insides: List[float] = [] + hits: List[int] = [] + for ep in episodes: + pooled.extend(ep.get("dist_samples", [])) + x = ep.get("inside_target_frac") + if x == x: + insides.append(float(x)) + if "targets_hit" in ep: + hits.append(int(ep["targets_hit"])) + print(format_stats_line("指尖-目标距离 (全回合池化)", scalar_stats(pooled))) + if insides: + print(f"各回合目标内时间占比 均值: {float(np.mean(insides)):.4f} (std={float(np.std(insides)):.4f})") + if hits: + print(f"各回合命中目标数: mean={float(np.mean(hits)):.2f}, max={max(hits)}") + print(f"至少命中一次回合: {sum(1 for h in hits if h > 0)}/{len(hits)} | 总命中数: {sum(hits)}") + + elif task_name == "RemoteDriving": + pooled_car: List[float] = [] + successes = 0 + for ep in episodes: + pooled_car.extend(ep.get("dist_car_samples", [])) + if ep.get("target_parking_success"): + successes += 1 + print(format_stats_line("车-目标距离 (全回合池化)", scalar_stats(pooled_car))) + print(f"停车成功回合: {successes}/{len(episodes)}") + + print("======================================\n") + + if csv_path: + export_csv(episodes, csv_path) diff --git a/hci/user-in-the-box/uitb/utils/logger.py b/hci/user-in-the-box/uitb/utils/logger.py new file mode 100644 index 00000000..b7841120 --- /dev/null +++ b/hci/user-in-the-box/uitb/utils/logger.py @@ -0,0 +1,33 @@ +import pickle + + +class BaseLogger: + + def __init__(self, num_episodes, keys): + self.num_episodes = num_episodes + self.keys = keys + self.data = {self.strify(num): {key: [] for key in self.keys} for num in range(num_episodes)} + + def strify(self, num): + return f"episode_{str(num).zfill(len(str(self.num_episodes)))}" + + def log(self, episode, d): + # We use lists so we should add None to those keys that aren't included in d but are present in self.data + for key in self.keys: + if key in d: + value = d[key] + else: + value = None + self.data[self.strify(episode)][key].append(value) + + def save(self, filename): + with open(f"{filename}.pickle", 'wb') as handle: + pickle.dump(self.data, handle) + +class StateLogger(BaseLogger): + def __init__(self, num_episodes, keys): + super().__init__(num_episodes=num_episodes, keys=keys) + +class ActionLogger(BaseLogger): + def __init__(self, num_episodes): + super().__init__(num_episodes=num_episodes, keys=["step", "timestep", "action", "ctrl", "reward"]) \ No newline at end of file diff --git a/hci/user-in-the-box/uitb/utils/rendering.py b/hci/user-in-the-box/uitb/utils/rendering.py new file mode 100644 index 00000000..d16e526d --- /dev/null +++ b/hci/user-in-the-box/uitb/utils/rendering.py @@ -0,0 +1,279 @@ +import mujoco +import numpy as np +import cv2 +import threading +import atexit + + +class Context: + """A context handler for GL and mujoco contexts. + Initialises one GL and mujoco context which can be shared by multiple `Camera`s. + """ + + def __init__(self, model, max_resolution): + """Initializes a new `Context`. + Args: + model: Instance of a mujoco model. + max_resolution: Maximum resolution that cameras with this context can use. + """ + + self._max_resolution = max_resolution + + # Not really sure if we need this + self._contexts_lock = threading.Lock() + + with self._contexts_lock: + + # Set simulation-wide max resolution + model.vis.global_.offwidth = max_resolution[0] + model.vis.global_.offheight = max_resolution[1] + + # Create the OpenGL context. + self._gl = mujoco.GLContext(max_resolution[1], max_resolution[0]) + self._gl.make_current() + + # Create the MuJoCo context. + self.mujoco = mujoco.MjrContext(model, mujoco.mjtFontScale.mjFONTSCALE_150) + mujoco.mjr_setBuffer(mujoco.mjtFramebuffer.mjFB_OFFSCREEN.value, self.mujoco) + + # Can't leave de-allocation for destructors, will raise errors/warnings + atexit.register(self._gl.free) + + +class Camera: + """Mujoco scene camera. + Adapted from https://github.com/deepmind/dm_control/blob/main/dm_control/mujoco/engine.py. + Holds rendering properties such as the width and height of the viewport. The + camera position and rotation is defined by the Mujoco camera corresponding to + the `camera_id`. Multiple `Camera` instances may exist for a single + `camera_id`, for example to render the same view at different resolutions. + """ + + def __init__(self, + context, + model, + data, + resolution=None, + rgb=True, + depth=False, + camera_id=-1, + maxgeom=1000, + dt=None): + """Initializes a new `Camera`. + Args: + context: Instance of a `Context`. + model: Instance of a mujoco model class. + data: Instance of a mujoco data class. + resolution: An array/list of shape (Image width x image height). If none, + global max resolution will be used. + rgb: A boolean indicating whether an rgb array is rendered and returned. + True by default. + depth: A boolean indicating whether a depth array is rendered and returned. + False by default. + camera_id: Optional camera name or index. Defaults to -1, the free + camera, which is always defined. A nonnegative integer or string + corresponds to a fixed camera, which must be defined in the model XML. + If `camera_id` is a string then the camera must also be named. + maxgeom: Optional integer specifying the maximum number of geoms that can + be rendered in the same scene. Default 1000. + dt: Time between steps, optional. Required for recording videos. + Raises: + ValueError: If `camera_id` is outside the valid range, or if `width` or + `height` exceed the dimensions of MuJoCo's offscreen framebuffer. + """ + buffer_width = model.vis.global_.offwidth + buffer_height = model.vis.global_.offheight + if resolution is None: resolution = [buffer_width, buffer_height] + if resolution[0] > buffer_width: + raise ValueError('Image width {} > framebuffer width {}. Either reduce ' + 'the image width or specify a larger offscreen ' + 'framebuffer in the config\'s "run_parameters" using ' + ' keyword "max_resolution"'.format(resolution[0], buffer_width)) + if resolution[1] > buffer_height: + raise ValueError('Image height {} > framebuffer height {}. Either reduce ' + 'the image height or specify a larger offscreen ' + 'framebuffer in the config\'s "run_parameters" using ' + ' keyword "max_resolution"'.format(resolution[1], buffer_height)) + if isinstance(camera_id, str): + camera_id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, camera_id) + if camera_id < -1: + raise ValueError('camera_id cannot be smaller than -1.') + if camera_id >= model.ncam: + raise ValueError('model has {} fixed cameras. camera_id={} is invalid.'. + format(model.ncam, camera_id)) + + self._resolution = resolution + self._model = model + self._data = data + self._context = context + self._rgb = rgb + self._depth = depth + + # Variables corresponding to structs needed by Mujoco's rendering functions. + self._scene = mujoco.MjvScene(model=model, maxgeom=maxgeom) + self._scene_option = mujoco.MjvOption() + + self._perturb = mujoco.MjvPerturb() + self._perturb.active = 0 + self._perturb.select = 0 + + self._rect = mujoco.MjrRect(0, 0, *self._resolution) + + self._render_camera = mujoco.MjvCamera() + self._render_camera.fixedcamid = camera_id + + if camera_id == -1: + self._render_camera.type = mujoco.mjtCamera.mjCAMERA_FREE + else: + # As defined in the Mujoco documentation, mjCAMERA_FIXED refers to a + # camera explicitly defined in the model. + self._render_camera.type = mujoco.mjtCamera.mjCAMERA_FIXED + + # Internal buffers. + self._rgb_buffer = np.empty((self._resolution[1], self._resolution[0], 3), dtype=np.uint8) if rgb else None + self._depth_buffer = np.empty((self._resolution[1], self._resolution[0]), dtype=np.float32) if depth else None + + # Set frames per second + self.set_fps(dt) if dt else None + + @property + def width(self): + """Returns the image width (number of pixels).""" + return self._resolution[0] + + @property + def height(self): + """Returns the image height (number of pixels).""" + return self._resolution[1] + + @property + def option(self): + """Returns the camera's visualization options.""" + return self._scene_option + + @property + def scene(self): + """Returns the `mujoco.MjvScene` instance used by the camera.""" + return self._scene + + def update(self, scene_option=None): + """Updates geometry used for rendering. + Args: + scene_option: A custom `wrapper.MjvOption` instance to use to render + the scene instead of the default. If None, will use the default. + """ + scene_option = scene_option or self._scene_option + mujoco.mjv_updateScene(self._model, self._data, + scene_option, self._perturb, + self._render_camera, mujoco.mjtCatBit.mjCAT_ALL, + self._scene) + + def _render_on_gl_thread(self): + """Performs only those rendering calls that require an OpenGL context.""" + + # Render the scene. + mujoco.mjr_render(self._rect, self._scene, + self._context.mujoco) + + # Read the contents of either the RGB or depth buffer. + mujoco.mjr_readPixels(self._rgb_buffer if self._rgb else None, + self._depth_buffer if self._depth else None, + self._rect, self._context.mujoco) + + def render( + self, + scene_option=None, + ): + """Renders the camera view as a numpy array of pixel values. + Args: + scene_option: A custom `mujoco.MjvOption` instance to use to render + the scene instead of the default. If None, will use the default. + Returns: + The rendered scene, including + * A (height, width, 3) uint8 numpy array containing RGB values (or None). + * A (height, width) float32 numpy array containing depth values (or None). + """ + + # Update scene geometry. + self.update(scene_option=scene_option) + + # Render scene and text overlays, read contents of RGB or depth buffer. + #self._simulator.contexts.gl.make_current() + self._render_on_gl_thread() + + depth_image = None + rgb_image = None + if self._depth: + # Get the distances to the near and far clipping planes. + #extent = self._physics.model.stat.extent + #near = self._physics.model.vis.map.znear * extent + #far = self._physics.model.vis.map.zfar * extent + # Convert from [0 1] to depth in meters, see links below: + # http://stackoverflow.com/a/6657284/1461210 + # https://www.khronos.org/opengl/wiki/Depth_Buffer_Precision + #image = near / (1 - self._depth_buffer * (1 - near / far)) + depth_image = np.flipud(self._depth_buffer).copy() + if self._rgb: + rgb_image = np.flipud(self._rgb_buffer).copy() + + # The first row in the buffer is the bottom row of pixels in the image. + return rgb_image, depth_image + + def set_fps(self, dt): + """Sets the frames per second value, required for recording videos. + Args: + dt: Time elapsed between two rendered images + """ + self._fps = int(np.round(1.0 / dt)) + + def write_video(self, imgs, filepath): + # DEPRECATED -> use write_video_set_path(filepath), write_video_add_frame(img), and write_video_close() instead + """Writes a video from images. + Args: + imgs: A list of images. + filepath: Path where the video will be saved. + Raises: + ValueError: If frames per second (fps) is not set (set_fps is not called) + """ + + # Make sure fps has been set + if self._fps is None: + raise ValueError("set_fps must be called before writing a video.") + + fourcc = cv2.VideoWriter_fourcc(*'mp4v') + out = cv2.VideoWriter(filepath, fourcc, self._fps, tuple(self._resolution)) + for img in imgs: + out.write(cv2.cvtColor(img, cv2.COLOR_BGR2RGB)) + out.release() + + def write_video_set_path(self, filepath): + """Creates a video writer instance that can be used online to add frames + (might be less memory consuming than write_video()). + Args: + filepath: Path where the video will be saved. + Raises: + ValueError: If frames per second (fps) is not set (set_fps is not called) + """ + + # Make sure fps has been set + if self._fps is None: + raise ValueError("set_fps must be called before writing a video.") + + fourcc = cv2.VideoWriter_fourcc(*'mp4v') + self._write_video_out = cv2.VideoWriter(filepath, fourcc, self._fps, tuple(self._resolution)) + + def write_video_add_frame(self, img): + """Adds the given frame to the video writer instance + (might be less memory consuming than write_video()). + Args: + img: The image to write. + """ + assert hasattr(self, "_write_video_out"), "Call 'write_video_set_path(filepath)' first to create a video writer instance." + self._write_video_out.write(cv2.cvtColor(img, cv2.COLOR_BGR2RGB)) + + def write_video_close(self): + """Closes the existing video writer instance + (might be less memory consuming than write_video()). + """ + assert hasattr(self, "_write_video_out"), "Call 'write_video_set_path(filepath)' first to create a video writer instance." + self._write_video_out.release() \ No newline at end of file diff --git a/hci/user-in-the-box/uitb/utils/transformations.py b/hci/user-in-the-box/uitb/utils/transformations.py new file mode 100644 index 00000000..3ff0932c --- /dev/null +++ b/hci/user-in-the-box/uitb/utils/transformations.py @@ -0,0 +1,26 @@ +import numpy as np +from scipy.spatial.transform import Rotation + + +def transformation_matrix(pos, quat=None, matrix=None, scalar_first=True): + """ A helper function to create transformation matrices from position vectors and rotation matrices or quaternions""" + + # Make sure only 'quat' or 'matrix' is defined + if (quat is None and matrix is None) or (quat is not None and matrix is not None): + raise RuntimeError("You need to define either 'quat' or 'matrix', both cannot be None or defined") + + # Transform quaternion into a rotation matrix + if quat is not None: + + # Make sure Rotation.from_quat gets a quaternion in scalar-last format + if scalar_first: + quat = np.roll(quat, -1) + + # Create the rotation matrix + matrix = Rotation.from_quat(quat).as_matrix() + + # Create the matrix + T = np.eye(4) + T[:3, :3] = matrix + T[:3, 3] = pos + return T \ No newline at end of file diff --git a/hci/user-in-the-box/uitb/utils/unity.py b/hci/user-in-the-box/uitb/utils/unity.py new file mode 100644 index 00000000..bdf1da0f --- /dev/null +++ b/hci/user-in-the-box/uitb/utils/unity.py @@ -0,0 +1,118 @@ +import zmq +import subprocess +import socket +import cv2 +import numpy as np +import os +import shutil +import time + + +class UnityClient: + """ This class defines an object that 1) opens up a Unity standalone application, and 2) communicates with the + application through ZMQ. """ + + def __init__(self, unity_executable, port=None, standalone=True, app_args=[]): + + # If a port number hasn't been given, grab one randomly + if port is None: + self.port = self._find_free_port() + else: + self.port = port + + self._app = None + + # Check if we should open the app (during debugging the app is typically run in Unity Editor) + if standalone: + + # Hack for headless environments + env_with_display = os.environ.copy() + if "DISPLAY" not in env_with_display: + env_with_display["DISPLAY"] = ":0" + + # Get build folder + build_folder = os.path.split(unity_executable)[0] + + # Define path for log file; use current time (in microseconds) since epoch, should be high resolution enough + log_name = f"{int(time.time_ns()/1e3)}" + log_path = os.path.join(build_folder, "app_logs") + + # Create a "log" folder in the build folder + os.makedirs(log_path, exist_ok=True) + + # Open the app + self._app = subprocess.Popen([unity_executable, + '-simulated', + '-port', f'{self.port}', + '-logFile', f'{os.path.join(log_path, log_name)}'] + app_args, env=env_with_display) + + # Create zmq client + self._context = zmq.Context() + self._client = self._context.socket(zmq.REQ) + self._client.connect(f"tcp://localhost:{self.port}") + + def close(self): + if self._client: + self._client.send_json({"quitApplication": True}) + self._client.close() + if self._context: + self._context.destroy() + + def _receive(self): + + # Receive message + msg = self._client.recv_json() + + # Convert byte array to image + image = cv2.imdecode(np.asarray(msg["image"], dtype=np.uint8), -1) + + # Convert BGRA format to RGBA format + image = cv2.cvtColor(image, cv2.COLOR_BGRA2RGBA) + + return {"image": image, "time": msg["timeFeature"]}, msg["reward"], msg["isFinished"], msg.get("logDict", "{}") + + def step(self, state, is_finished): + msg = {**state, "isFinished": is_finished, "reset": False} + self._client.send_json(msg) + return self._receive() + + def reset(self, state): + msg = {**state, "isFinished": False, "reset": True} + self._client.send_json(msg) + return self._receive()[0] + + def handshake(self, time_options): + # Send time options, receive an empty msg + print(f"Attempting to connect to Unity app on port {self.port}") + self._client.send_json(time_options) + msg = self._client.recv_json() + print("Connection confirmed") + + def _find_free_port(self): + # Not perfect but works for our purpose. Susceptible to race conditions. + with socket.socket() as s: + s.bind(('', 0)) + return s.getsockname()[1] + + +def images_to_video(recording_folder, action_sample_freq, resolution, evaluate_dir=None): + + # There can be several folders with images, loop through them + for key in os.listdir(recording_folder): + + maybe_folder = os.path.join(recording_folder, key) + + # Only process folders (there shouldn't be anything else anyways) + if os.path.isdir(maybe_folder): + # Save to evaluate_dir if it is given, otherwise save to same folder where images are read from + + # Create the video + subprocess.call([ + 'ffmpeg', + '-y', '-r', f'{action_sample_freq}', '-f', 'image2', '-s', resolution, + '-i', f"{os.path.join(maybe_folder, 'image%d.png')}", + '-vcodec', 'libx264', '-crf', '15', '-pix_fmt', 'yuv420p', + f"{os.path.join(evaluate_dir if evaluate_dir else recording_folder, f'{key}.mp4')}"]) + + # Remove the folder containing images + shutil.rmtree(maybe_folder) \ No newline at end of file