PhyRCBath

RoboNotts development for the PhyRC Challenge.

Run robonotts_bathing_main.py for current working solution.

Perception

The Perception class is contained in bathing_perception.py. To use this code you will need to create an instance of the Perception class and pass in the BathingEnv variable. There is a minimal working version of how to use the Perception class in bathing_perception_test.py.

Implementation notes for Perception

• You must call generate_landmarks() before you can access the landmarks of the manikin. This is a change from the previous version of the code.
• RCareWorld has the y-axis pointing up. If the y-axis value cannot be determined from a 2D image, the Perception class will return the y-axis value as zero.
• Depth is returned as the landmark's height from the floor, not the distance from the camera.
• Mediapipe landmarks can be found here. The manikin's landmarks can either be referenced using the landmark number, or the landmark name (all uppercase, spaces replaced with underscores).