bug fix and documentation update

MultiPhysics/envs/franka_robotics_env.py

@@ -1,4 +1,3 @@
-from pyrfuniverse.envs.gym_goal_wrapper_env import RFUniverseGymGoalWrapper
 import numpy as np
 from gym import spaces
 from gym.utils import seeding

Test/test_load_mesh.py

@@ -19,6 +19,4 @@
         position=[0, 1, 0],
         rotation=[random.random() * 360, random.random() * 360, random.random() * 360],
     )
-
-while 1:
-    env.step()
+env.Pend()

Test/test_point_cloud.py

@@ -20,7 +20,7 @@
 
 image_rgb = camera1.data["rgb"]
 image_depth_exr = camera1.data["depth_exr"]
-fov = camera1.data["fov"]
+fov = 60
 local_to_world_matrix = camera1.data["local_to_world_matrix"]
 point1 = dp.image_bytes_to_point_cloud(
     image_rgb, image_depth_exr, fov, local_to_world_matrix
@@ -34,7 +34,7 @@
 
 image_rgb = camera2.data["rgb"]
 image_depth_exr = camera2.data["depth_exr"]
-fov = camera2.data["fov"]
+fov = 60
 local_to_world_matrix = camera2.data["local_to_world_matrix"]
 point2 = dp.image_bytes_to_point_cloud(
     image_rgb, image_depth_exr, fov, local_to_world_matrix

pyrfuniverse/__init__.py

@@ -1,5 +1,5 @@
 # Version of the library that will be used to upload to pypi
-__version__ = "0.12.3.3"
+__version__ = "0.12.4"
 
 import os.path
 import json

pyrfuniverse/envs/base_env.py

@@ -19,6 +19,11 @@ class RFUniverseBaseEnv(ABC):
         scene_file: Str, the absolute path of Unity scene JSON file. All JSON files locate at `StraemingAssets/SceneData` by default.
         assets: List, the list of pre-load assets. All assets in the list will be pre-loaded in Unity when the environment is initialized, which will save time during instanciating.
         graphics: Bool, True for showing GUI and False for headless mode.
+        port: Int, the port for communication.
+        proc_id: Int, the process id for the Unity environment. 0 for the first process, 1 for the second process, and so on.
+        log_level: Int, the log level for Unity environment. 0 for no log, 1 for errors logs, 2 for warnings and errors, 3 for all only.
+        ext_attr: List, the list of extended attributes. All extended attributes will be added to the environment.
+        check_version: Bool, True for checking the version of the Unity environment and the pyrfuniverse library. False for not checking the version.
     """
 
     metadata = {"render.modes": ["human", "rgb_array"]}
@@ -82,6 +87,9 @@ def __init__(
         if scene_file is not None:
             self.LoadSceneAsync(scene_file, True)
 
+    def __del__(self):
+        self.close()
+
     def _get_port(self) -> int:
         executable_port = self.port + 1
         s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)

pyrfuniverse/envs/gym_wrapper_env.py

@@ -9,6 +9,20 @@
 
 
 class RFUniverseGymWrapper(RFUniverseBaseEnv, gym.Env):
+    """
+    RFUniverse base environment with Gym class.
+
+    Args:
+        executable_file: Str, the absolute path of Unity executable file. None for last used executable file; "@editor" for using Unity Editor.
+        scene_file: Str, the absolute path of Unity scene JSON file. All JSON files locate at `StraemingAssets/SceneData` by default.
+        assets: List, the list of pre-load assets. All assets in the list will be pre-loaded in Unity when the environment is initialized, which will save time during instanciating.
+        graphics: Bool, True for showing GUI and False for headless mode.
+        port: Int, the port for communication.
+        proc_id: Int, the process id for the Unity environment. 0 for the first process, 1 for the second process, and so on.
+        log_level: Int, the log level for Unity environment. 0 for no log, 1 for errors logs, 2 for warnings and errors, 3 for all only.
+        ext_attr: List, the list of extended attributes. All extended attributes will be added to the environment.
+        check_version: Bool, True for checking the version of the Unity environment and the pyrfuniverse library. False for not checking the version.
+    """
     def __init__(
         self,
         executable_file: str = None,

pyrfuniverse/utils/rfuniverse_communicator.py

@@ -100,18 +100,20 @@ def receive_step(self):
                 self.on_receive_data(objs)
 
     def receive_bytes(self):
-        # data = self.client.recv(4)
-        # assert len(data) == 4
         data = bytearray()
         while len(data) < 4:
-            data.extend(self.client.recv(4 - len(data)))
+            temp_data = self.client.recv(4 - len(data))
+            assert len(temp_data) != 0
+            data.extend(temp_data)
         assert len(data) == 4
         length = int.from_bytes(data, byteorder="little", signed=False)
         if length == 0:
             return None
         buffer = bytearray()
         while len(buffer) < length:
-            buffer.extend(self.client.recv(length - len(buffer)))
+            temp_data = self.client.recv(length - len(buffer))
+            assert len(temp_data) != 0
+            buffer.extend(temp_data)
         assert len(buffer) == length
         return buffer, length