From 188b2b665b65ec19c9a69883a1ce5779e479e0db Mon Sep 17 00:00:00 2001 From: Behron Date: Mon, 7 Apr 2025 18:03:33 -0600 Subject: [PATCH] Working on SOArm100 with new UI and also multi-threaded mujoco --- .../Core/BP_NaviSplineCreator.uasset | 4 +- .../Blueprint/Game/BP_LuckyGameState.uasset | 4 +- .../Game/BP_LuckyGameinstanceMode.uasset | 4 +- .../Mujoco/BP_MujocoSettingsStretchV1.uasset | 2 +- .../RobotPawnActors/BP_mujoco_SOArm100.uasset | 4 +- .../BP_CameraSensor.uasset | 4 +- .../Bhrama/Robots/BP_SoArm100.uasset | 4 +- Content/Map/PickAndPlaceArmLevel.umap | 3 + Content/Map/Test_Level.umap | 4 +- .../ChildItems/WB_CameraSetting.uasset | 4 +- .../ChildItems/WB_CameraSettings.uasset | 4 +- .../WB_Stationary_ArmRobotMenu.uasset | 4 +- .../Style/WB_LuckyDropDownList.uasset | 3 + .../luckyBot/Luckywidget/WB_GameWidget.uasset | 4 +- .../Luckywidget/menu/WB_AllRandom.uasset | 4 +- .../menu/WB_CaptureSettings.uasset | 4 +- Luckyrobots.sln.DotSettings.user | 2 + Luckyrobots.uproject | 10 ++ .../Win64/UnrealEditor-CPathfinding.dll | 4 +- .../Win64/UnrealEditor-CPathfinding.pdb | 4 +- .../Inc/CPathfinding/UHT/Timestamp | 6 +- .../CPathfinding/LiveCodingInfo.json | 14 +- .../UnrealEditor-CPathfinding.dll.rsp | 6 - .../UnrealEditor-CPathfinding.exp | Bin 50499 -> 50499 bytes .../UnrealEditor-CPathfinding.lib | 2 +- .../UnrealEditor-CPathfinding.lib.rsp | 6 - .../Win64/UnrealEditor-LuckyMujoco.dll | 4 +- .../Win64/UnrealEditor-LuckyMujoco.exp | Bin 237647 -> 243011 bytes .../Win64/UnrealEditor-LuckyMujoco.pdb | 4 +- .../Private/Actors/MujocoVolumeActor.cpp | 63 ++++++- .../Private/Misc/FMujocoSimWorker.cpp | 72 ++++++++ .../Private/World/LLMWorldManager.cpp | 58 +++++++ .../Public/Actors/MujocoVolumeActor.h | 21 +++ .../Public/Misc/FMujocoSimWorker.h | 34 ++++ .../Public/World/LLMWorldManager.h | 40 +++++ RobotData/0_ArmCam/0_Depth.jpg | 3 + RobotData/0_ArmCam/0_RGB.jpg | 3 + RobotData/0_ArmCam/ArmCamPos.json | 8 + RobotData/0_HeadCam/0_Depth.jpg | 3 + RobotData/0_HeadCam/0_RGB.jpg | 3 + RobotData/0_HeadCam/HeadCamPos.json | 8 + RobotData/10_ArmCam/10_Depth.jpg | 3 + RobotData/10_ArmCam/10_RGB.jpg | 3 + RobotData/10_ArmCam/ArmCamPos.json | 48 ++++++ RobotData/10_HeadCam/10_Depth.jpg | 3 + RobotData/10_HeadCam/10_RGB.jpg | 3 + RobotData/10_HeadCam/HeadCamPos.json | 48 ++++++ RobotData/11_ArmCam/11_Depth.jpg | 3 + RobotData/11_ArmCam/11_RGB.jpg | 3 + RobotData/11_ArmCam/ArmCamPos.json | 52 ++++++ RobotData/11_HeadCam/11_Depth.jpg | 3 + RobotData/11_HeadCam/11_RGB.jpg | 3 + RobotData/11_HeadCam/HeadCamPos.json | 52 ++++++ RobotData/12_ArmCam/12_Depth.jpg | 3 + RobotData/12_ArmCam/12_RGB.jpg | 3 + RobotData/12_ArmCam/ArmCamPos.json | 56 ++++++ RobotData/12_HeadCam/12_Depth.jpg | 3 + RobotData/12_HeadCam/12_RGB.jpg | 3 + RobotData/12_HeadCam/HeadCamPos.json | 56 ++++++ RobotData/13_ArmCam/13_Depth.jpg | 3 + RobotData/13_ArmCam/13_RGB.jpg | 3 + RobotData/13_ArmCam/ArmCamPos.json | 60 +++++++ RobotData/13_HeadCam/13_Depth.jpg | 3 + RobotData/13_HeadCam/13_RGB.jpg | 3 + RobotData/13_HeadCam/HeadCamPos.json | 60 +++++++ RobotData/14_ArmCam/14_Depth.jpg | 3 + RobotData/14_ArmCam/14_RGB.jpg | 3 + RobotData/14_ArmCam/ArmCamPos.json | 64 +++++++ RobotData/14_HeadCam/14_Depth.jpg | 3 + RobotData/14_HeadCam/14_RGB.jpg | 3 + RobotData/14_HeadCam/HeadCamPos.json | 64 +++++++ RobotData/15_ArmCam/15_Depth.jpg | 3 + RobotData/15_ArmCam/15_RGB.jpg | 3 + RobotData/15_ArmCam/ArmCamPos.json | 68 ++++++++ RobotData/15_HeadCam/15_Depth.jpg | 3 + RobotData/15_HeadCam/15_RGB.jpg | 3 + RobotData/15_HeadCam/HeadCamPos.json | 68 ++++++++ RobotData/16_ArmCam/16_Depth.jpg | 3 + RobotData/16_ArmCam/16_RGB.jpg | 3 + RobotData/16_ArmCam/ArmCamPos.json | 72 ++++++++ RobotData/16_HeadCam/16_Depth.jpg | 3 + RobotData/16_HeadCam/16_RGB.jpg | 3 + RobotData/16_HeadCam/HeadCamPos.json | 72 ++++++++ RobotData/17_ArmCam/17_Depth.jpg | 3 + RobotData/17_ArmCam/17_RGB.jpg | 3 + RobotData/17_ArmCam/ArmCamPos.json | 76 +++++++++ RobotData/17_HeadCam/17_Depth.jpg | 3 + RobotData/17_HeadCam/17_RGB.jpg | 3 + RobotData/17_HeadCam/HeadCamPos.json | 76 +++++++++ RobotData/18_ArmCam/18_Depth.jpg | 3 + RobotData/18_ArmCam/18_RGB.jpg | 3 + RobotData/18_ArmCam/ArmCamPos.json | 80 +++++++++ RobotData/18_HeadCam/18_Depth.jpg | 3 + RobotData/18_HeadCam/18_RGB.jpg | 3 + RobotData/18_HeadCam/HeadCamPos.json | 80 +++++++++ RobotData/19_ArmCam/19_Depth.jpg | 3 + RobotData/19_ArmCam/19_RGB.jpg | 3 + RobotData/19_ArmCam/ArmCamPos.json | 84 +++++++++ RobotData/19_HeadCam/19_Depth.jpg | 3 + RobotData/19_HeadCam/19_RGB.jpg | 3 + RobotData/19_HeadCam/HeadCamPos.json | 84 +++++++++ RobotData/1_ArmCam/1_Depth.jpg | 3 + RobotData/1_ArmCam/1_RGB.jpg | 3 + RobotData/1_ArmCam/ArmCamPos.json | 12 ++ RobotData/1_HeadCam/1_Depth.jpg | 3 + RobotData/1_HeadCam/1_RGB.jpg | 3 + RobotData/1_HeadCam/HeadCamPos.json | 12 ++ RobotData/20_ArmCam/20_Depth.jpg | 3 + RobotData/20_ArmCam/20_RGB.jpg | 3 + RobotData/20_ArmCam/ArmCamPos.json | 88 ++++++++++ RobotData/20_HeadCam/20_Depth.jpg | 3 + RobotData/20_HeadCam/20_RGB.jpg | 3 + RobotData/20_HeadCam/HeadCamPos.json | 88 ++++++++++ RobotData/21_ArmCam/21_Depth.jpg | 3 + RobotData/21_ArmCam/21_RGB.jpg | 3 + RobotData/21_ArmCam/ArmCamPos.json | 92 ++++++++++ RobotData/21_HeadCam/21_Depth.jpg | 3 + RobotData/21_HeadCam/21_RGB.jpg | 3 + RobotData/21_HeadCam/HeadCamPos.json | 92 ++++++++++ RobotData/22_ArmCam/22_Depth.jpg | 3 + RobotData/22_ArmCam/22_RGB.jpg | 3 + RobotData/22_ArmCam/ArmCamPos.json | 96 +++++++++++ RobotData/22_HeadCam/22_Depth.jpg | 3 + RobotData/22_HeadCam/22_RGB.jpg | 3 + RobotData/22_HeadCam/HeadCamPos.json | 96 +++++++++++ RobotData/23_ArmCam/23_Depth.jpg | 3 + RobotData/23_ArmCam/23_RGB.jpg | 3 + RobotData/23_ArmCam/ArmCamPos.json | 100 +++++++++++ RobotData/23_HeadCam/23_Depth.jpg | 3 + RobotData/23_HeadCam/23_RGB.jpg | 3 + RobotData/23_HeadCam/HeadCamPos.json | 100 +++++++++++ RobotData/24_ArmCam/24_Depth.jpg | 3 + RobotData/24_ArmCam/24_RGB.jpg | 3 + RobotData/24_ArmCam/ArmCamPos.json | 104 ++++++++++++ RobotData/24_HeadCam/24_Depth.jpg | 3 + RobotData/24_HeadCam/24_RGB.jpg | 3 + RobotData/24_HeadCam/HeadCamPos.json | 104 ++++++++++++ RobotData/25_ArmCam/25_Depth.jpg | 3 + RobotData/25_ArmCam/25_RGB.jpg | 3 + RobotData/25_ArmCam/ArmCamPos.json | 108 ++++++++++++ RobotData/25_HeadCam/25_Depth.jpg | 3 + RobotData/25_HeadCam/25_RGB.jpg | 3 + RobotData/25_HeadCam/HeadCamPos.json | 108 ++++++++++++ RobotData/26_ArmCam/26_Depth.jpg | 3 + RobotData/26_ArmCam/26_RGB.jpg | 3 + RobotData/26_ArmCam/ArmCamPos.json | 112 ++++++++++++ RobotData/26_HeadCam/26_Depth.jpg | 3 + RobotData/26_HeadCam/26_RGB.jpg | 3 + RobotData/26_HeadCam/HeadCamPos.json | 112 ++++++++++++ RobotData/27_ArmCam/27_Depth.jpg | 3 + RobotData/27_ArmCam/27_RGB.jpg | 3 + RobotData/27_ArmCam/ArmCamPos.json | 116 +++++++++++++ RobotData/27_HeadCam/27_Depth.jpg | 3 + RobotData/27_HeadCam/27_RGB.jpg | 3 + RobotData/27_HeadCam/HeadCamPos.json | 116 +++++++++++++ RobotData/28_ArmCam/28_Depth.jpg | 3 + RobotData/28_ArmCam/28_RGB.jpg | 3 + RobotData/28_ArmCam/ArmCamPos.json | 120 +++++++++++++ RobotData/28_HeadCam/28_Depth.jpg | 3 + RobotData/28_HeadCam/28_RGB.jpg | 3 + RobotData/28_HeadCam/HeadCamPos.json | 120 +++++++++++++ RobotData/29_ArmCam/29_Depth.jpg | 3 + RobotData/29_ArmCam/29_RGB.jpg | 3 + RobotData/29_ArmCam/ArmCamPos.json | 124 ++++++++++++++ RobotData/29_HeadCam/29_Depth.jpg | 3 + RobotData/29_HeadCam/29_RGB.jpg | 3 + RobotData/29_HeadCam/HeadCamPos.json | 124 ++++++++++++++ RobotData/2_ArmCam/2_Depth.jpg | 3 + RobotData/2_ArmCam/2_RGB.jpg | 3 + RobotData/2_ArmCam/ArmCamPos.json | 16 ++ RobotData/2_HeadCam/2_Depth.jpg | 3 + RobotData/2_HeadCam/2_RGB.jpg | 3 + RobotData/2_HeadCam/HeadCamPos.json | 16 ++ RobotData/30_ArmCam/30_Depth.jpg | 3 + RobotData/30_ArmCam/30_RGB.jpg | 3 + RobotData/30_ArmCam/ArmCamPos.json | 128 ++++++++++++++ RobotData/30_HeadCam/30_Depth.jpg | 3 + RobotData/30_HeadCam/30_RGB.jpg | 3 + RobotData/30_HeadCam/HeadCamPos.json | 128 ++++++++++++++ RobotData/31_ArmCam/31_Depth.jpg | 3 + RobotData/31_ArmCam/31_RGB.jpg | 3 + RobotData/31_ArmCam/ArmCamPos.json | 132 +++++++++++++++ RobotData/31_HeadCam/31_Depth.jpg | 3 + RobotData/31_HeadCam/31_RGB.jpg | 3 + RobotData/31_HeadCam/HeadCamPos.json | 132 +++++++++++++++ RobotData/32_ArmCam/32_Depth.jpg | 3 + RobotData/32_ArmCam/32_RGB.jpg | 3 + RobotData/32_ArmCam/ArmCamPos.json | 136 +++++++++++++++ RobotData/32_HeadCam/32_Depth.jpg | 3 + RobotData/32_HeadCam/32_RGB.jpg | 3 + RobotData/32_HeadCam/HeadCamPos.json | 136 +++++++++++++++ RobotData/33_ArmCam/33_Depth.jpg | 3 + RobotData/33_ArmCam/33_RGB.jpg | 3 + RobotData/33_ArmCam/ArmCamPos.json | 140 +++++++++++++++ RobotData/33_HeadCam/33_Depth.jpg | 3 + RobotData/33_HeadCam/33_RGB.jpg | 3 + RobotData/33_HeadCam/HeadCamPos.json | 140 +++++++++++++++ RobotData/34_ArmCam/34_Depth.jpg | 3 + RobotData/34_ArmCam/34_RGB.jpg | 3 + RobotData/34_ArmCam/ArmCamPos.json | 144 ++++++++++++++++ RobotData/34_HeadCam/34_Depth.jpg | 3 + RobotData/34_HeadCam/34_RGB.jpg | 3 + RobotData/34_HeadCam/HeadCamPos.json | 144 ++++++++++++++++ RobotData/35_ArmCam/35_Depth.jpg | 3 + RobotData/35_ArmCam/35_RGB.jpg | 3 + RobotData/35_ArmCam/ArmCamPos.json | 148 ++++++++++++++++ RobotData/35_HeadCam/35_Depth.jpg | 3 + RobotData/35_HeadCam/35_RGB.jpg | 3 + RobotData/35_HeadCam/HeadCamPos.json | 148 ++++++++++++++++ RobotData/36_ArmCam/36_Depth.jpg | 3 + RobotData/36_ArmCam/36_RGB.jpg | 3 + RobotData/36_ArmCam/ArmCamPos.json | 152 +++++++++++++++++ RobotData/36_HeadCam/36_Depth.jpg | 3 + RobotData/36_HeadCam/36_RGB.jpg | 3 + RobotData/36_HeadCam/HeadCamPos.json | 152 +++++++++++++++++ RobotData/37_ArmCam/37_Depth.jpg | 3 + RobotData/37_ArmCam/37_RGB.jpg | 3 + RobotData/37_ArmCam/ArmCamPos.json | 156 +++++++++++++++++ RobotData/37_HeadCam/37_Depth.jpg | 3 + RobotData/37_HeadCam/37_RGB.jpg | 3 + RobotData/37_HeadCam/HeadCamPos.json | 156 +++++++++++++++++ RobotData/38_ArmCam/38_Depth.jpg | 3 + RobotData/38_ArmCam/38_RGB.jpg | 3 + RobotData/38_ArmCam/ArmCamPos.json | 160 ++++++++++++++++++ RobotData/38_HeadCam/38_Depth.jpg | 3 + RobotData/38_HeadCam/38_RGB.jpg | 3 + RobotData/38_HeadCam/HeadCamPos.json | 160 ++++++++++++++++++ RobotData/3_ArmCam/3_Depth.jpg | 3 + RobotData/3_ArmCam/3_RGB.jpg | 3 + RobotData/3_ArmCam/ArmCamPos.json | 20 +++ RobotData/3_HeadCam/3_Depth.jpg | 3 + RobotData/3_HeadCam/3_RGB.jpg | 3 + RobotData/3_HeadCam/HeadCamPos.json | 20 +++ RobotData/4_ArmCam/4_Depth.jpg | 3 + RobotData/4_ArmCam/4_RGB.jpg | 3 + RobotData/4_ArmCam/ArmCamPos.json | 24 +++ RobotData/4_HeadCam/4_Depth.jpg | 3 + RobotData/4_HeadCam/4_RGB.jpg | 3 + RobotData/4_HeadCam/HeadCamPos.json | 24 +++ RobotData/5_ArmCam/5_Depth.jpg | 3 + RobotData/5_ArmCam/5_RGB.jpg | 3 + RobotData/5_ArmCam/ArmCamPos.json | 28 +++ RobotData/5_HeadCam/5_Depth.jpg | 3 + RobotData/5_HeadCam/5_RGB.jpg | 3 + RobotData/5_HeadCam/HeadCamPos.json | 28 +++ RobotData/6_ArmCam/6_Depth.jpg | 3 + RobotData/6_ArmCam/6_RGB.jpg | 3 + RobotData/6_ArmCam/ArmCamPos.json | 32 ++++ RobotData/6_HeadCam/6_Depth.jpg | 3 + RobotData/6_HeadCam/6_RGB.jpg | 3 + RobotData/6_HeadCam/HeadCamPos.json | 32 ++++ RobotData/7_ArmCam/7_Depth.jpg | 3 + RobotData/7_ArmCam/7_RGB.jpg | 3 + RobotData/7_ArmCam/ArmCamPos.json | 36 ++++ RobotData/7_HeadCam/7_Depth.jpg | 3 + RobotData/7_HeadCam/7_RGB.jpg | 3 + RobotData/7_HeadCam/HeadCamPos.json | 36 ++++ RobotData/8_ArmCam/8_Depth.jpg | 3 + RobotData/8_ArmCam/8_RGB.jpg | 3 + RobotData/8_ArmCam/ArmCamPos.json | 40 +++++ RobotData/8_HeadCam/8_Depth.jpg | 3 + RobotData/8_HeadCam/8_RGB.jpg | 3 + RobotData/8_HeadCam/HeadCamPos.json | 40 +++++ RobotData/9_ArmCam/9_Depth.jpg | 3 + RobotData/9_ArmCam/9_RGB.jpg | 3 + RobotData/9_ArmCam/ArmCamPos.json | 44 +++++ RobotData/9_HeadCam/9_Depth.jpg | 3 + RobotData/9_HeadCam/9_RGB.jpg | 3 + RobotData/9_HeadCam/HeadCamPos.json | 44 +++++ 269 files changed, 7365 insertions(+), 65 deletions(-) create mode 100644 Content/Map/PickAndPlaceArmLevel.umap create mode 100644 Content/luckyBot/Luckywidget/Style/WB_LuckyDropDownList.uasset create mode 100644 Luckyrobots.sln.DotSettings.user create mode 100644 Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Misc/FMujocoSimWorker.cpp create mode 100644 Plugins/LuckyMujoco/Source/LuckyMujoco/Private/World/LLMWorldManager.cpp create mode 100644 Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Misc/FMujocoSimWorker.h create mode 100644 Plugins/LuckyMujoco/Source/LuckyMujoco/Public/World/LLMWorldManager.h create mode 100644 RobotData/0_ArmCam/0_Depth.jpg create mode 100644 RobotData/0_ArmCam/0_RGB.jpg create mode 100644 RobotData/0_ArmCam/ArmCamPos.json create mode 100644 RobotData/0_HeadCam/0_Depth.jpg create mode 100644 RobotData/0_HeadCam/0_RGB.jpg create mode 100644 RobotData/0_HeadCam/HeadCamPos.json create mode 100644 RobotData/10_ArmCam/10_Depth.jpg create mode 100644 RobotData/10_ArmCam/10_RGB.jpg create mode 100644 RobotData/10_ArmCam/ArmCamPos.json create mode 100644 RobotData/10_HeadCam/10_Depth.jpg create mode 100644 RobotData/10_HeadCam/10_RGB.jpg create mode 100644 RobotData/10_HeadCam/HeadCamPos.json create mode 100644 RobotData/11_ArmCam/11_Depth.jpg create mode 100644 RobotData/11_ArmCam/11_RGB.jpg create mode 100644 RobotData/11_ArmCam/ArmCamPos.json create mode 100644 RobotData/11_HeadCam/11_Depth.jpg create mode 100644 RobotData/11_HeadCam/11_RGB.jpg create mode 100644 RobotData/11_HeadCam/HeadCamPos.json create mode 100644 RobotData/12_ArmCam/12_Depth.jpg create mode 100644 RobotData/12_ArmCam/12_RGB.jpg create mode 100644 RobotData/12_ArmCam/ArmCamPos.json create mode 100644 RobotData/12_HeadCam/12_Depth.jpg create mode 100644 RobotData/12_HeadCam/12_RGB.jpg create mode 100644 RobotData/12_HeadCam/HeadCamPos.json create mode 100644 RobotData/13_ArmCam/13_Depth.jpg create mode 100644 RobotData/13_ArmCam/13_RGB.jpg create mode 100644 RobotData/13_ArmCam/ArmCamPos.json create mode 100644 RobotData/13_HeadCam/13_Depth.jpg create mode 100644 RobotData/13_HeadCam/13_RGB.jpg create mode 100644 RobotData/13_HeadCam/HeadCamPos.json create mode 100644 RobotData/14_ArmCam/14_Depth.jpg create mode 100644 RobotData/14_ArmCam/14_RGB.jpg create mode 100644 RobotData/14_ArmCam/ArmCamPos.json create mode 100644 RobotData/14_HeadCam/14_Depth.jpg create mode 100644 RobotData/14_HeadCam/14_RGB.jpg create mode 100644 RobotData/14_HeadCam/HeadCamPos.json create mode 100644 RobotData/15_ArmCam/15_Depth.jpg create mode 100644 RobotData/15_ArmCam/15_RGB.jpg create mode 100644 RobotData/15_ArmCam/ArmCamPos.json create mode 100644 RobotData/15_HeadCam/15_Depth.jpg create mode 100644 RobotData/15_HeadCam/15_RGB.jpg create mode 100644 RobotData/15_HeadCam/HeadCamPos.json create mode 100644 RobotData/16_ArmCam/16_Depth.jpg create mode 100644 RobotData/16_ArmCam/16_RGB.jpg create mode 100644 RobotData/16_ArmCam/ArmCamPos.json create mode 100644 RobotData/16_HeadCam/16_Depth.jpg create mode 100644 RobotData/16_HeadCam/16_RGB.jpg create mode 100644 RobotData/16_HeadCam/HeadCamPos.json create mode 100644 RobotData/17_ArmCam/17_Depth.jpg create mode 100644 RobotData/17_ArmCam/17_RGB.jpg create mode 100644 RobotData/17_ArmCam/ArmCamPos.json create mode 100644 RobotData/17_HeadCam/17_Depth.jpg create mode 100644 RobotData/17_HeadCam/17_RGB.jpg create mode 100644 RobotData/17_HeadCam/HeadCamPos.json create mode 100644 RobotData/18_ArmCam/18_Depth.jpg create mode 100644 RobotData/18_ArmCam/18_RGB.jpg create mode 100644 RobotData/18_ArmCam/ArmCamPos.json create mode 100644 RobotData/18_HeadCam/18_Depth.jpg create mode 100644 RobotData/18_HeadCam/18_RGB.jpg create mode 100644 RobotData/18_HeadCam/HeadCamPos.json create mode 100644 RobotData/19_ArmCam/19_Depth.jpg create mode 100644 RobotData/19_ArmCam/19_RGB.jpg create mode 100644 RobotData/19_ArmCam/ArmCamPos.json create mode 100644 RobotData/19_HeadCam/19_Depth.jpg create mode 100644 RobotData/19_HeadCam/19_RGB.jpg create mode 100644 RobotData/19_HeadCam/HeadCamPos.json create mode 100644 RobotData/1_ArmCam/1_Depth.jpg create mode 100644 RobotData/1_ArmCam/1_RGB.jpg create mode 100644 RobotData/1_ArmCam/ArmCamPos.json create mode 100644 RobotData/1_HeadCam/1_Depth.jpg create mode 100644 RobotData/1_HeadCam/1_RGB.jpg create mode 100644 RobotData/1_HeadCam/HeadCamPos.json create mode 100644 RobotData/20_ArmCam/20_Depth.jpg create mode 100644 RobotData/20_ArmCam/20_RGB.jpg create mode 100644 RobotData/20_ArmCam/ArmCamPos.json create mode 100644 RobotData/20_HeadCam/20_Depth.jpg create mode 100644 RobotData/20_HeadCam/20_RGB.jpg create mode 100644 RobotData/20_HeadCam/HeadCamPos.json create mode 100644 RobotData/21_ArmCam/21_Depth.jpg create mode 100644 RobotData/21_ArmCam/21_RGB.jpg create mode 100644 RobotData/21_ArmCam/ArmCamPos.json create mode 100644 RobotData/21_HeadCam/21_Depth.jpg create mode 100644 RobotData/21_HeadCam/21_RGB.jpg create mode 100644 RobotData/21_HeadCam/HeadCamPos.json create mode 100644 RobotData/22_ArmCam/22_Depth.jpg create mode 100644 RobotData/22_ArmCam/22_RGB.jpg create mode 100644 RobotData/22_ArmCam/ArmCamPos.json create mode 100644 RobotData/22_HeadCam/22_Depth.jpg create mode 100644 RobotData/22_HeadCam/22_RGB.jpg create mode 100644 RobotData/22_HeadCam/HeadCamPos.json create mode 100644 RobotData/23_ArmCam/23_Depth.jpg create mode 100644 RobotData/23_ArmCam/23_RGB.jpg create mode 100644 RobotData/23_ArmCam/ArmCamPos.json create mode 100644 RobotData/23_HeadCam/23_Depth.jpg create mode 100644 RobotData/23_HeadCam/23_RGB.jpg create mode 100644 RobotData/23_HeadCam/HeadCamPos.json create mode 100644 RobotData/24_ArmCam/24_Depth.jpg create mode 100644 RobotData/24_ArmCam/24_RGB.jpg create mode 100644 RobotData/24_ArmCam/ArmCamPos.json create mode 100644 RobotData/24_HeadCam/24_Depth.jpg create mode 100644 RobotData/24_HeadCam/24_RGB.jpg create mode 100644 RobotData/24_HeadCam/HeadCamPos.json create mode 100644 RobotData/25_ArmCam/25_Depth.jpg create mode 100644 RobotData/25_ArmCam/25_RGB.jpg create mode 100644 RobotData/25_ArmCam/ArmCamPos.json create mode 100644 RobotData/25_HeadCam/25_Depth.jpg create mode 100644 RobotData/25_HeadCam/25_RGB.jpg create mode 100644 RobotData/25_HeadCam/HeadCamPos.json create mode 100644 RobotData/26_ArmCam/26_Depth.jpg create mode 100644 RobotData/26_ArmCam/26_RGB.jpg create mode 100644 RobotData/26_ArmCam/ArmCamPos.json create mode 100644 RobotData/26_HeadCam/26_Depth.jpg create mode 100644 RobotData/26_HeadCam/26_RGB.jpg create mode 100644 RobotData/26_HeadCam/HeadCamPos.json create mode 100644 RobotData/27_ArmCam/27_Depth.jpg create mode 100644 RobotData/27_ArmCam/27_RGB.jpg create mode 100644 RobotData/27_ArmCam/ArmCamPos.json create mode 100644 RobotData/27_HeadCam/27_Depth.jpg create mode 100644 RobotData/27_HeadCam/27_RGB.jpg create mode 100644 RobotData/27_HeadCam/HeadCamPos.json create mode 100644 RobotData/28_ArmCam/28_Depth.jpg create mode 100644 RobotData/28_ArmCam/28_RGB.jpg create mode 100644 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RobotData/30_HeadCam/30_Depth.jpg create mode 100644 RobotData/30_HeadCam/30_RGB.jpg create mode 100644 RobotData/30_HeadCam/HeadCamPos.json create mode 100644 RobotData/31_ArmCam/31_Depth.jpg create mode 100644 RobotData/31_ArmCam/31_RGB.jpg create mode 100644 RobotData/31_ArmCam/ArmCamPos.json create mode 100644 RobotData/31_HeadCam/31_Depth.jpg create mode 100644 RobotData/31_HeadCam/31_RGB.jpg create mode 100644 RobotData/31_HeadCam/HeadCamPos.json create mode 100644 RobotData/32_ArmCam/32_Depth.jpg create mode 100644 RobotData/32_ArmCam/32_RGB.jpg create mode 100644 RobotData/32_ArmCam/ArmCamPos.json create mode 100644 RobotData/32_HeadCam/32_Depth.jpg create mode 100644 RobotData/32_HeadCam/32_RGB.jpg create mode 100644 RobotData/32_HeadCam/HeadCamPos.json create mode 100644 RobotData/33_ArmCam/33_Depth.jpg create mode 100644 RobotData/33_ArmCam/33_RGB.jpg create mode 100644 RobotData/33_ArmCam/ArmCamPos.json create mode 100644 RobotData/33_HeadCam/33_Depth.jpg create mode 100644 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a/Content/Blueprint/Core/BP_NaviSplineCreator.uasset +++ b/Content/Blueprint/Core/BP_NaviSplineCreator.uasset @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5f8830d21cf2525c87c5165a9dfab82b386d041fbc13876a80a76121b6a4fdbe -size 605469 +oid sha256:c583b51cd565fa13cc823e169c2b0d71b19c230f351a81d65c02ebd7d81a4cb1 +size 603299 diff --git a/Content/Blueprint/Game/BP_LuckyGameState.uasset b/Content/Blueprint/Game/BP_LuckyGameState.uasset index eb019b6a..42c3f3fe 100644 --- a/Content/Blueprint/Game/BP_LuckyGameState.uasset +++ b/Content/Blueprint/Game/BP_LuckyGameState.uasset @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b60e68a418bb405733f8751f7164c987a5fac9f608d7457582003e80eb97d33c -size 114684 +oid sha256:4194bf2ced7434759b93fb42284335081d3b9b941ff75d2c0e3a0d8d3c49cf05 +size 116172 diff --git a/Content/Blueprint/Game/BP_LuckyGameinstanceMode.uasset b/Content/Blueprint/Game/BP_LuckyGameinstanceMode.uasset index 89d0ed97..4814af8e 100644 --- a/Content/Blueprint/Game/BP_LuckyGameinstanceMode.uasset +++ b/Content/Blueprint/Game/BP_LuckyGameinstanceMode.uasset @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:02eeadb6f3cf83786b360d32b889813bbb8387174e52ea52bab2c52566279d74 -size 925285 +oid sha256:d97a63188c1e45f2713dc6fd947ac5329c8e0b2ff67c71e1e711e0013aeb1ef5 +size 937927 diff --git a/Content/Blueprint/Mujoco/BP_MujocoSettingsStretchV1.uasset b/Content/Blueprint/Mujoco/BP_MujocoSettingsStretchV1.uasset index 367680cb..e8cae343 100644 --- a/Content/Blueprint/Mujoco/BP_MujocoSettingsStretchV1.uasset +++ b/Content/Blueprint/Mujoco/BP_MujocoSettingsStretchV1.uasset @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7e524d1c7c11cef009d2e785b08ddbdf4018f279db4cf3f886340aaae990f793 +oid sha256:b1cb48c3b0d36ecd5bd480b9b14e2cc9985b89726da3861137aa7a4a8b472efc size 24778 diff --git a/Content/Blueprint/RobotPawnActors/BP_mujoco_SOArm100.uasset b/Content/Blueprint/RobotPawnActors/BP_mujoco_SOArm100.uasset index a9b20768..0da57d2f 100644 --- a/Content/Blueprint/RobotPawnActors/BP_mujoco_SOArm100.uasset +++ b/Content/Blueprint/RobotPawnActors/BP_mujoco_SOArm100.uasset @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9c6be9da569944dcad3800a9945b5e86ee71701e16103b5dab996d10a00a47e0 -size 977584 +oid sha256:5f23e606de678a06d4bc4661d79d891a15ba32b8d56e0bc768d3f91808b05de7 +size 997626 diff --git a/Content/Blueprint/robotAccessoriesSensors/BP_CameraSensor.uasset b/Content/Blueprint/robotAccessoriesSensors/BP_CameraSensor.uasset index 2d1bbc6b..c99cef24 100644 --- a/Content/Blueprint/robotAccessoriesSensors/BP_CameraSensor.uasset +++ b/Content/Blueprint/robotAccessoriesSensors/BP_CameraSensor.uasset @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a38b45795ca214821ebb65c20196ca81f47b6cbd804ee6eb14fe6a1279364bf2 -size 282339 +oid sha256:f8248304f41fa7e3b54e6e275ed4e0b98b6e79fdceb38e9b7782bb9d6b5a51e7 +size 310088 diff --git a/Content/Developers/Bhrama/Robots/BP_SoArm100.uasset b/Content/Developers/Bhrama/Robots/BP_SoArm100.uasset index 22d299a7..87b25827 100644 --- a/Content/Developers/Bhrama/Robots/BP_SoArm100.uasset +++ b/Content/Developers/Bhrama/Robots/BP_SoArm100.uasset @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fff17cd9f78a351096737950f95b7597fcb429b420a673a79b720d34771aeb6c -size 204958 +oid sha256:21652726f4d08b2fcd30ecad27451250839d34643e3352291e928edaf86b109e +size 209510 diff --git a/Content/Map/PickAndPlaceArmLevel.umap b/Content/Map/PickAndPlaceArmLevel.umap new file mode 100644 index 00000000..4bfc960d --- /dev/null +++ b/Content/Map/PickAndPlaceArmLevel.umap @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12ab98213edf88c333ef45a5dbd39ad1f0ef7d1644416eb4b00d2357ef4f13ff +size 137071 diff --git a/Content/Map/Test_Level.umap b/Content/Map/Test_Level.umap index 59f07bdb..0f152b05 100644 --- a/Content/Map/Test_Level.umap +++ b/Content/Map/Test_Level.umap @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ab335a0c85647fe594361b241908e105618af932e6402036691111fa67d3973c -size 1027101 +oid sha256:6f85206ed7e64c4aff3c026ee1a5a8adf2475550ca541d343f16368d50bd75ec +size 998578 diff --git a/Content/luckyBot/Luckywidget/ChildItems/WB_CameraSetting.uasset b/Content/luckyBot/Luckywidget/ChildItems/WB_CameraSetting.uasset index 51214391..b644ecc8 100644 --- a/Content/luckyBot/Luckywidget/ChildItems/WB_CameraSetting.uasset +++ b/Content/luckyBot/Luckywidget/ChildItems/WB_CameraSetting.uasset @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ecb0be72a263789f2a8196f22b732258a014ca988f36cdcd8f81bb27e66bf918 -size 436176 +oid sha256:dab7e9acb65b5b47449d0041032c5e24ebc301ad3c3219de191038516c99621a +size 446395 diff --git a/Content/luckyBot/Luckywidget/ChildItems/WB_CameraSettings.uasset b/Content/luckyBot/Luckywidget/ChildItems/WB_CameraSettings.uasset index 54fd20d8..4b10c64f 100644 --- a/Content/luckyBot/Luckywidget/ChildItems/WB_CameraSettings.uasset +++ b/Content/luckyBot/Luckywidget/ChildItems/WB_CameraSettings.uasset @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a79647743768501ce053a647d215d677f76a278d16d1b1dec58425ec810ca893 -size 107913 +oid sha256:2e04d427f0e26c7cfd1ef7095eba539e05a019c41b7dfb95c94dff6c654000c3 +size 115472 diff --git a/Content/luckyBot/Luckywidget/ChildItems/WB_Stationary_ArmRobotMenu.uasset b/Content/luckyBot/Luckywidget/ChildItems/WB_Stationary_ArmRobotMenu.uasset index f777d29a..f5c1df0d 100644 --- a/Content/luckyBot/Luckywidget/ChildItems/WB_Stationary_ArmRobotMenu.uasset +++ b/Content/luckyBot/Luckywidget/ChildItems/WB_Stationary_ArmRobotMenu.uasset @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:50a04b97db755fddcacc2ccaeeecf67c5a0869104f5b8c63c25a4ffe7cad2fea -size 12594 +oid sha256:89443efc938b2e9a25abe3b2232a270c6987b6c466feaa4234a30ff2c66acde7 +size 53316 diff --git a/Content/luckyBot/Luckywidget/Style/WB_LuckyDropDownList.uasset b/Content/luckyBot/Luckywidget/Style/WB_LuckyDropDownList.uasset new file mode 100644 index 00000000..f8fb2abc --- /dev/null +++ b/Content/luckyBot/Luckywidget/Style/WB_LuckyDropDownList.uasset @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ce6e4fa2748d139d55850bedbcf62983013e3362d3dab7e4f7c85a6ee823c8a +size 94698 diff --git a/Content/luckyBot/Luckywidget/WB_GameWidget.uasset b/Content/luckyBot/Luckywidget/WB_GameWidget.uasset index 19a8df21..692c0119 100644 --- a/Content/luckyBot/Luckywidget/WB_GameWidget.uasset +++ b/Content/luckyBot/Luckywidget/WB_GameWidget.uasset @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:703c6ad2c14c4092b6c7f4c1f21ef3b393b035f50200a9eb4ac7e7b4e6428e7f -size 1766725 +oid sha256:fdf165a0c929759188f799feebc091b5c7b84fbdfcb38b7464a6b4710c6b9de8 +size 1775344 diff --git a/Content/luckyBot/Luckywidget/menu/WB_AllRandom.uasset b/Content/luckyBot/Luckywidget/menu/WB_AllRandom.uasset index 4074800f..c41c9df6 100644 --- a/Content/luckyBot/Luckywidget/menu/WB_AllRandom.uasset +++ b/Content/luckyBot/Luckywidget/menu/WB_AllRandom.uasset @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:84d4b86bfb5a111aac850a0263aa19e3c96eca25079fc7ed2f780083c5608c4e -size 350236 +oid sha256:5edbd2f6dd72dfb24d1c79244b42ffbf57cd455fe9296cc7b25e359e6cb6486f +size 455491 diff --git a/Content/luckyBot/Luckywidget/menu/WB_CaptureSettings.uasset b/Content/luckyBot/Luckywidget/menu/WB_CaptureSettings.uasset index 1b99308b..8f3c911a 100644 --- a/Content/luckyBot/Luckywidget/menu/WB_CaptureSettings.uasset +++ b/Content/luckyBot/Luckywidget/menu/WB_CaptureSettings.uasset @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:00cbb27f1222d79bf02a8b96cd58807e4b71190b34243cdee1c2b3f0eaaf7f26 -size 1811261 +oid sha256:4da4f6d8e57f5c05f4a24dfe810a7fcb43a184a648a37cbd8b75e19296e9fa6e +size 2010013 diff --git a/Luckyrobots.sln.DotSettings.user b/Luckyrobots.sln.DotSettings.user new file mode 100644 index 00000000..cc14c863 --- /dev/null +++ b/Luckyrobots.sln.DotSettings.user @@ -0,0 +1,2 @@ + + ForceIncluded \ No newline at end of file diff --git a/Luckyrobots.uproject b/Luckyrobots.uproject index 9938033a..1394e025 100644 --- a/Luckyrobots.uproject +++ b/Luckyrobots.uproject @@ -52,6 +52,16 @@ { "Name": "StateGraph", "Enabled": true + }, + { + "Name": "BlueprintJson", + "Enabled": true, + "MarketplaceURL": "com.epicgames.launcher://ue/marketplace/content/f837e4835fbc434a853fe1ead2410b84" + }, + { + "Name": "CPathfinding", + "Enabled": true, + "MarketplaceURL": "com.epicgames.launcher://ue/marketplace/product/c533ad0234c540fb81bdfa7bd55d3514" } ] } \ No newline at end of file diff --git a/Plugins/CPathfinding/Binaries/Win64/UnrealEditor-CPathfinding.dll b/Plugins/CPathfinding/Binaries/Win64/UnrealEditor-CPathfinding.dll index 75d29c07..27ccafcb 100644 --- a/Plugins/CPathfinding/Binaries/Win64/UnrealEditor-CPathfinding.dll +++ b/Plugins/CPathfinding/Binaries/Win64/UnrealEditor-CPathfinding.dll @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a505e841dfb150d52a8338dd2821c922e2c67bde6e004ae0a32d295dcae9a2a7 -size 281088 +oid sha256:81b26fb7c8db628444586ad0768e120461e1d1999c9ccf41f70eb12d9f3650aa +size 282112 diff --git a/Plugins/CPathfinding/Binaries/Win64/UnrealEditor-CPathfinding.pdb b/Plugins/CPathfinding/Binaries/Win64/UnrealEditor-CPathfinding.pdb index 73058c11..72f6032c 100644 --- a/Plugins/CPathfinding/Binaries/Win64/UnrealEditor-CPathfinding.pdb +++ b/Plugins/CPathfinding/Binaries/Win64/UnrealEditor-CPathfinding.pdb @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:43b427a16adec8054537c18f8b8f1db8ce02092032392b4a8a670087648f3668 -size 60502016 +oid sha256:35a07c124bef3d1561c68a0de60d2482cb2119487986d5eb3e0295fbf950ef46 +size 60436480 diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/Timestamp b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/Timestamp index b862d702..9054c83e 100644 --- a/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/Timestamp +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/Timestamp @@ -1,6 +1,6 @@ +D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Source\CPathfinding\Public\CPathDefines.h +D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Source\CPathfinding\Public\CPathNode.h +D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Source\CPathfinding\Public\CPathVolume.h D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Source\CPathfinding\Public\CPathDynamicObstacle.h D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Source\CPathfinding\Public\CPathFindPath.h -D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Source\CPathfinding\Public\CPathDefines.h -D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Source\CPathfinding\Public\CPathVolume.h -D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Source\CPathfinding\Public\CPathNode.h D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Source\CPathfinding\Public\CPathVolumeGroundPrio.h diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/LiveCodingInfo.json b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/LiveCodingInfo.json index edc926da..3c39dda5 100644 --- a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/LiveCodingInfo.json +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/LiveCodingInfo.json @@ -2,23 +2,23 @@ "RemapUnityFiles": { "Module.CPathfinding.cpp.obj": [ + "CPathDefines.gen.cpp.obj", "CPathDynamicObstacle.gen.cpp.obj", + "CPathfinding.init.gen.cpp.obj", + "CPathFindPath.gen.cpp.obj", "CPathNode.gen.cpp.obj", "CPathVolume.gen.cpp.obj", "CPathVolumeGroundPrio.gen.cpp.obj", "PerModuleInline.gen.cpp.obj", "CPathAsyncVolumeGeneration.cpp.obj", + "CPathDefines.cpp.obj", + "CPathDynamicObstacle.cpp.obj", "CPathfinding.cpp.obj", + "CPathFindPath.cpp.obj", "CPathNode.cpp.obj", "CPathOctree.cpp.obj", "CPathVolume.cpp.obj", - "CPathVolumeGroundPrio.cpp.obj", - "CPathDefines.gen.cpp.obj", - "CPathfinding.init.gen.cpp.obj", - "CPathFindPath.gen.cpp.obj", - "CPathDefines.cpp.obj", - "CPathDynamicObstacle.cpp.obj", - "CPathFindPath.cpp.obj" + "CPathVolumeGroundPrio.cpp.obj" ] } } \ No newline at end of file diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.dll.rsp b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.dll.rsp index 76af612f..0586a7f6 100644 --- a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.dll.rsp +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.dll.rsp @@ -38,12 +38,6 @@ /NOIMPLIB "..\Intermediate\Build\Win64\x64\UnrealEditor\Development\UnrealEd\SharedPCH.UnrealEd.Project.ValApi.Cpp20.InclOrderUnreal5_3.h.obj" "D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\Module.CPathfinding.cpp.obj" -"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathDefines.cpp.obj" -"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathDynamicObstacle.cpp.obj" -"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathFindPath.cpp.obj" -"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathDefines.gen.cpp.obj" -"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathfinding.init.gen.cpp.obj" -"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathFindPath.gen.cpp.obj" "..\Intermediate\Build\Win64\x64\UnrealEditor\Development\Default.rc2.res" "..\Intermediate\Build\Win64\x64\UnrealEditor\Development\CoreUObject\UnrealEditor-CoreUObject.lib" "..\Intermediate\Build\Win64\x64\UnrealEditor\Development\Engine\UnrealEditor-Engine.lib" diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.exp b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.exp index 4fe7d7c00b228397db51fc159b42c56d0102429e..d8e3ee027da8262dac0083e3d779994e27bcc9a0 100644 GIT binary patch delta 25 fcmX@y#eBGnnLVYAi6J}g?L_uOW+1gO`^FIfeKiWS delta 25 fcmX@y#eBGnnLVYAiDCYyXA{{InSs>C>>Eb_i~bBY diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.lib b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.lib index 448a0d0b..579cc7f5 100644 --- a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.lib +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.lib @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ed5a72d3288463502a6a3e5956f04be7756b732f5727153cd4bc48956084791c +oid sha256:5512d34781ea39d27261ac29384fcb1e087053d3174488d05a3384f8d389f32b size 86112 diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.lib.rsp b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.lib.rsp index d5edb1ab..7f403ae1 100644 --- a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.lib.rsp +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.lib.rsp @@ -8,11 +8,5 @@ /NODEFAULTLIB "..\Intermediate\Build\Win64\x64\UnrealEditor\Development\UnrealEd\SharedPCH.UnrealEd.Project.ValApi.Cpp20.InclOrderUnreal5_3.h.obj" "D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\Module.CPathfinding.cpp.obj" -"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathDefines.cpp.obj" -"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathDynamicObstacle.cpp.obj" -"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathFindPath.cpp.obj" -"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathDefines.gen.cpp.obj" -"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathfinding.init.gen.cpp.obj" -"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathFindPath.gen.cpp.obj" "..\Intermediate\Build\Win64\x64\UnrealEditor\Development\Default.rc2.res" /OUT:"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\UnrealEditor-CPathfinding.lib" \ No newline at end of file diff --git a/Plugins/LuckyMujoco/Binaries/Win64/UnrealEditor-LuckyMujoco.dll b/Plugins/LuckyMujoco/Binaries/Win64/UnrealEditor-LuckyMujoco.dll index 6a80e20d..daaa51d5 100644 --- a/Plugins/LuckyMujoco/Binaries/Win64/UnrealEditor-LuckyMujoco.dll +++ b/Plugins/LuckyMujoco/Binaries/Win64/UnrealEditor-LuckyMujoco.dll @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid 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a/Plugins/LuckyMujoco/Binaries/Win64/UnrealEditor-LuckyMujoco.pdb +++ b/Plugins/LuckyMujoco/Binaries/Win64/UnrealEditor-LuckyMujoco.pdb @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c3c7ef2c33703dac07804264dd4594a226b5a3ed8bdf6342ca09b6ac01c6eb11 -size 67481600 +oid sha256:024749dbc4e2664eb1eb250095d968ca0559acbe0e449e7cb116ff11803f70be +size 67653632 diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Actors/MujocoVolumeActor.cpp b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Actors/MujocoVolumeActor.cpp index 2aa1ba5e..dd6a1bb3 100644 --- a/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Actors/MujocoVolumeActor.cpp +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Actors/MujocoVolumeActor.cpp @@ -11,6 +11,7 @@ #include "LuckyMujoco.h" #include "fstream" #include "filesystem" +#include "Misc/FMujocoSimWorker.h" AMujocoVolumeActor::AMujocoVolumeActor() { @@ -21,7 +22,6 @@ AMujocoVolumeActor::AMujocoVolumeActor() SpriteComponent = CreateDefaultSubobject(TEXT("Sprite")); RootComponent = SpriteComponent; - if (SpriteComponent) { SpriteComponent->bHiddenInGame = true; @@ -118,6 +118,7 @@ void AMujocoVolumeActor::InitializeMujoco() if (auto* World = GetWorld()) { + //GEngine->AddOnScreenDebugMessage(-1, 5.f, FColor::Green, TEXT("Generating Mujoco model...")); OnMujocoCompileBegin.Broadcast(); @@ -190,7 +191,15 @@ void AMujocoVolumeActor::InitializeMujoco() AssignComponentsToArray(World, TendonComponents); mj_resetData(MujocoModel.Get(), MujocoData.Get()); + if (MujocoModel && MujocoData && bMultithreaded) + { + SimulatedPositions.SetNum(MujocoModel->nbody); + SimulatedRotations.SetNum(MujocoModel->nbody); + SimWorker = MakeUnique( + MujocoModel.Get(), MujocoData.Get(), Options.Get()->Options.TimeStep, + &SimulatedPositions, &SimulatedRotations, &MujocoDataLock); + } //GEngine->AddOnScreenDebugMessage(-1, 5.f, FColor::Green, TEXT("Mujoco model generated!")); OnMujocoCompileSuccess.Broadcast(); } @@ -389,6 +398,31 @@ void AMujocoVolumeActor::PostRegisterAllComponents() void AMujocoVolumeActor::Tick(float DeltaTime) { + // Super::Tick(DeltaTime); + if (bMultithreaded) + { + FScopeLock Lock(&MujocoDataLock); + + for (int32 i = 1; i < BodyComponents.Num(); ++i) + { + if (BodyComponents[i].IsValid() && SimulatedPositions.IsValidIndex(i) && SimulatedRotations.IsValidIndex(i)) + { + if (bUpdatePositions) + { + BodyComponents[i]->SetWorldLocationAndRotation(SimulatedPositions[i], SimulatedRotations[i]); + } + if (bUpdateBounds) + { + BodyComponents[i]->UpdateBounds(); + } + if (bUpdateOverlaps) + { + BodyComponents[i]->UpdateOverlaps(); + } + } + } + return; + } if (MujocoData) { mj_step(MujocoModel.Get(), MujocoData.Get()); @@ -397,7 +431,7 @@ void AMujocoVolumeActor::Tick(float DeltaTime) { mj_step(MujocoModel.Get(), MujocoData.Get()); } - + for (int32 i = 1; i < BodyComponents.Num(); ++i) { if (BodyComponents[i].IsValid()) @@ -408,16 +442,25 @@ void AMujocoVolumeActor::Tick(float DeltaTime) FVector Position = FVector(Pos[0], -Pos[1], Pos[2]) * 100.0f; FQuat Rotation = FQuat(Quat[1], -Quat[2], Quat[3], -Quat[0]); - BodyComponents[i]->SetWorldLocationAndRotation(Position, Rotation); - BodyComponents[i]->UpdateBounds(); - BodyComponents[i]->UpdateOverlaps(); + if (bUpdatePositions) + { + BodyComponents[i]->SetWorldLocationAndRotation(Position, Rotation); + } + if (bUpdateBounds) + { + BodyComponents[i]->UpdateBounds(); + } + if (bUpdateOverlaps) + { + BodyComponents[i]->UpdateOverlaps(); + } } else { UE_LOG(LogMujoco, Warning, TEXT("Invalid body component at index: %d"), i); } } - } + } } void AMujocoVolumeActor::PostInitializeComponents() @@ -427,13 +470,19 @@ void AMujocoVolumeActor::PostInitializeComponents() void AMujocoVolumeActor::BeginPlay() { - Super::BeginPlay(); + Super::BeginPlay(); } void AMujocoVolumeActor::EndPlay(const EEndPlayReason::Type EndPlayReason) { Super::EndPlay(EndPlayReason); + if (SimWorker) + { + SimWorker->EnsureCompletion(); + SimWorker.Reset(); + } + MujocoData.Reset(); MujocoModel.Reset(); } diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Misc/FMujocoSimWorker.cpp b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Misc/FMujocoSimWorker.cpp new file mode 100644 index 00000000..5bf45933 --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Misc/FMujocoSimWorker.cpp @@ -0,0 +1,72 @@ +// MujocoSimWorker.cpp + +#include "Misc/FMujocoSimWorker.h" +#include "HAL/PlatformProcess.h" + +FMujocoSimWorker::FMujocoSimWorker(mjModel* InModel, mjData* InData, float InTimestep, + TArray* InPositions, TArray* InRotations, FCriticalSection* InLock) + : Model(InModel), Data(InData), Timestep(InTimestep), + Positions(InPositions), Rotations(InRotations), DataLock(InLock), bStopThread(false) +{ + Thread = FRunnableThread::Create(this, TEXT("FMujocoSimWorker"), 0, TPri_AboveNormal); + if (!Thread) + { + UE_LOG(LogTemp, Fatal, TEXT("Failed to create MuJoCo simulation thread!")); + } +} + +FMujocoSimWorker::~FMujocoSimWorker() +{ + if (Thread) + { + Thread->Kill(true); + delete Thread; + Thread = nullptr; + } +} + +bool FMujocoSimWorker::Init() +{ + return true; +} + +uint32 FMujocoSimWorker::Run() +{ + int NumBodies = Model->nbody; + + Positions->SetNum(NumBodies); + Rotations->SetNum(NumBodies); + + while (!bStopThread) + { + mj_step(Model, Data); + + // Lock the buffer + FScopeLock Lock(DataLock); + for (int i = 0; i < NumBodies; ++i) + { + mjtNum* Pos = Data->xpos + 3 * i; + mjtNum* Quat = Data->xquat + 4 * i; + + (*Positions)[i] = FVector(Pos[0], -Pos[1], Pos[2]) * 100.0f; + (*Rotations)[i] = FQuat(Quat[1], -Quat[2], Quat[3], -Quat[0]); + } + FPlatformProcess::Sleep(Timestep); + } + + return 0; +} + +void FMujocoSimWorker::Stop() +{ + bStopThread = true; +} + +void FMujocoSimWorker::EnsureCompletion() +{ + Stop(); + if (Thread) + { + Thread->WaitForCompletion(); + } +} diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/World/LLMWorldManager.cpp b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/World/LLMWorldManager.cpp new file mode 100644 index 00000000..aace47c2 --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/World/LLMWorldManager.cpp @@ -0,0 +1,58 @@ +// Fill out your copyright notice in the Description page of Project Settings. + + +#include "World/LLMWorldManager.h" +#include "EngineUtils.h" +#include "Components/LightComponent.h" +#include "Engine/DirectionalLight.h" + +// Sets default values +ALLMWorldManager::ALLMWorldManager() +{ + // Set this actor to call Tick() every frame. You can turn this off to improve performance if you don't need it. + PrimaryActorTick.bCanEverTick = false; + +} + +// Called when the game starts or when spawned +void ALLMWorldManager::BeginPlay() +{ + Super::BeginPlay(); + TArray Lights; + for (TActorIterator Itr(GetWorld()); Itr; ++Itr) + { + DefaultLighting.Add(*Itr,Itr->GetLightComponent()->Intensity); + } +} + +// Called every frame +void ALLMWorldManager::Tick(float DeltaTime) +{ + Super::Tick(DeltaTime); + +} + +void ALLMWorldManager::ProcessLLMCommand_Implementation(const FString& Command) +{ + const FString CMD = Command.Replace(*CommandPrefix,*FString("")); + FString Left = ""; + FString Right = ""; + CMD.Split(" ", &Left, &Right); + + if (Left.IsEmpty() || Right.IsEmpty()) + { + return; + } + + if (Left == GlobalLightingCommandPrefix) + { + TArray Lights; + for (TActorIterator Itr(GetWorld()); Itr; ++Itr) + { + //Right == "0" ? 0 : DefaultLighting.FindRef(*Itr) + Itr->GetLightComponent()->SetIntensity(FCString::Atof(*Right)); + } + } + +} + diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Actors/MujocoVolumeActor.h b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Actors/MujocoVolumeActor.h index 12b041e8..174f15e3 100644 --- a/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Actors/MujocoVolumeActor.h +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Actors/MujocoVolumeActor.h @@ -6,6 +6,7 @@ #include "Components/BillboardComponent.h" #include "Misc/MujocoWrapper.h" #include "Delegates/DelegateCombinations.h" +#include "Misc/FMujocoSimWorker.h" #include "MujocoVolumeActor.generated.h" class UMujocoBodyComponent; @@ -61,6 +62,18 @@ public: UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco | Simulation", meta = (Min = 0, Max = 100, ClampMin = 0, ClampMax = 100)) int32 FrameSkip = 0; + UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco | Simulation") + bool bMultithreaded = true; + + UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco | Simulation") + bool bUpdatePositions = true; + + UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco | Simulation") + bool bUpdateBounds = true; + + UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco | Simulation") + bool bUpdateOverlaps = true; + UPROPERTY(EditDefaultsOnly, BlueprintReadWrite, Category = "Mujoco") TObjectPtr SpriteComponent; @@ -117,4 +130,12 @@ protected: virtual void BeginPlay() override; virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override; + +private: + TUniquePtr SimWorker; + FCriticalSection MujocoDataLock; + + TArray SimulatedPositions; + TArray SimulatedRotations; + }; diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Misc/FMujocoSimWorker.h b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Misc/FMujocoSimWorker.h new file mode 100644 index 00000000..a4299d18 --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Misc/FMujocoSimWorker.h @@ -0,0 +1,34 @@ +// MujocoSimWorker.h + +#pragma once + +#include "CoreMinimal.h" +#include "HAL/Runnable.h" +#include "HAL/ThreadSafeBool.h" +#include + +class FMujocoSimWorker : public FRunnable +{ +public: + FMujocoSimWorker(mjModel* InModel, mjData* InData, float InTimestep, + TArray* InPositions, TArray* InRotations, FCriticalSection* InLock); + virtual ~FMujocoSimWorker(); + + virtual bool Init() override; + virtual uint32 Run() override; + virtual void Stop() override; + + void EnsureCompletion(); + +private: + FThreadSafeBool bStopThread; + FRunnableThread* Thread; + + mjModel* Model; + mjData* Data; + float Timestep; + TArray* Positions; + TArray* Rotations; + FCriticalSection* DataLock; +}; + diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/World/LLMWorldManager.h b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/World/LLMWorldManager.h new file mode 100644 index 00000000..1c33decb --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/World/LLMWorldManager.h @@ -0,0 +1,40 @@ +// Fill out your copyright notice in the Description page of Project Settings. + +#pragma once + +#include "CoreMinimal.h" +#include "Engine/DirectionalLight.h" +#include "GameFramework/Actor.h" +#include "LLMWorldManager.generated.h" + +UCLASS(BlueprintType,Blueprintable) +class LUCKYMUJOCO_API ALLMWorldManager : public AActor +{ + GENERATED_BODY() + +public: + // Sets default values for this actor's properties + ALLMWorldManager(); + + UPROPERTY(EditAnywhere,BlueprintReadWrite) + FString CommandPrefix = "World:"; + + UPROPERTY(EditAnywhere,BlueprintReadWrite) + FString GlobalLightingCommandPrefix = "Lighting"; + +protected: + // Called when the game starts or when spawned + virtual void BeginPlay() override; + +public: + // Called every frame + virtual void Tick(float DeltaTime) override; + + UFUNCTION(BlueprintCallable,BlueprintNativeEvent) + void ProcessLLMCommand(const FString& Command); + +private: + + TMap DefaultLighting; + +}; diff --git a/RobotData/0_ArmCam/0_Depth.jpg b/RobotData/0_ArmCam/0_Depth.jpg new file mode 100644 index 00000000..ffd3d264 --- /dev/null +++ b/RobotData/0_ArmCam/0_Depth.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:121ce267f1b81516c1e787b96efb0a823a9421b65930264c80f4961484ad882d +size 47083 diff --git a/RobotData/0_ArmCam/0_RGB.jpg b/RobotData/0_ArmCam/0_RGB.jpg new file mode 100644 index 00000000..673fdf3a --- /dev/null +++ b/RobotData/0_ArmCam/0_RGB.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef537f3c763786183b70c6ec2e07149e409bfee61fd695419084f2b9cb2981ec +size 46896 diff --git a/RobotData/0_ArmCam/ArmCamPos.json b/RobotData/0_ArmCam/ArmCamPos.json new file mode 100644 index 00000000..a5b97417 --- /dev/null +++ b/RobotData/0_ArmCam/ArmCamPos.json @@ -0,0 +1,8 @@ +{ + "transforms": [ + { + "index": 0, + "transform": "Translation: X=-154.197 Y=336.157 Z=16.716 Rotation: P=-10.045475 Y=89.906679 R=0.080048 Scale: X=1.000 Y=1.000 Z=1.000" + } + ] +} \ No newline at 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R=-0.000000 Scale: X=1.000 Y=1.000 Z=1.000" + } + ] +} \ No newline at end of file diff --git a/RobotData/10_ArmCam/10_Depth.jpg b/RobotData/10_ArmCam/10_Depth.jpg new file mode 100644 index 00000000..346c1ef8 --- /dev/null +++ b/RobotData/10_ArmCam/10_Depth.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0044bfc315ffff3357049443655919b72cc07b8340044dff9f93f17adfa4f47 +size 46421 diff --git a/RobotData/10_ArmCam/10_RGB.jpg b/RobotData/10_ArmCam/10_RGB.jpg new file mode 100644 index 00000000..17457672 --- /dev/null +++ b/RobotData/10_ArmCam/10_RGB.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1bcd3f7a65cad1c6782ca8537ff2dcd1747a2c0dfad3a3058bbec9e56f75baf7 +size 46554 diff --git a/RobotData/10_ArmCam/ArmCamPos.json b/RobotData/10_ArmCam/ArmCamPos.json new file mode 100644 index 00000000..93a46ca6 --- /dev/null +++ b/RobotData/10_ArmCam/ArmCamPos.json @@ -0,0 +1,48 @@ +{ + "transforms": [ + { + "index": 0, + "transform": 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