Issue Loading multiple objects via LoadMesh

[davin-win-kyi]

Hi Everyone, I hope everything is going well this fine weekend!

Currently I am working on a project that involves multiple meshes that I have to load into a RCareWorld environment. I'm unfortunately running into an issue where the environment crashes when I load more than one object with the use of env.LoadMesh. I was wondering why this might be the case.

Thank you ahead of time!
Davin

Here is my code attached below:

from pyrcareworld.envs.base_env import RCareWorld
import pyrcareworld.attributes as attr

# Initialize the environment with the specified assets and set the time step
env = RCareWorld(assets=["franka_panda"], executable_file="pyrcareworld/pyrcareworld/demo/executable/Player/Player.x86_64")
env.SetTimeStep(0.005)

# Create an instance of the Franka Panda robot and set its IK target offset
robot = env.InstanceObject(name="franka_panda", id=123456, attr_type=attr.ControllerAttr)

x_offset = 0.0
y_offset = 0.5
z_offset = -0.525

robot.SetTransform(
    position=(x_offset, y_offset, z_offset)
)
robot.SetIKTargetOffset(position=[0, 0.105, 0])
env.step()

# Get the gripper attribute and open the gripper
gripper = env.GetAttr(1234560)
gripper.GripperOpen()



# Move and rotate the robot to the initial position
robot.IKTargetDoMove(position=[0 + x_offset, 0.5 + y_offset, 0.5 + z_offset], duration=2, speed_based=False)
robot.IKTargetDoRotate(rotation=[0, 45, 180], duration=2, speed_based=False)
robot.WaitDo()

iphone1 = env.LoadMesh(path="/home/davin123/RCareWorld/pyrcareworld/pyrcareworld/demo/mesh/wheelchair_person/wheelchair_person.obj")
iphone1.SetTransform(
    position=(0.75, 0.05, 0),
    rotation=(0, 180, 0),
    scale=(10, 10, 10)
)
iphone1.SetKinematic(is_kinematic=True)
iphone1.SetUseGravity(use_gravity=False)
env.step(1000)

position1 = [random.uniform(-0.5, -0.3) + x_offset, 0.03 + y_offset, random.uniform(0.3, 0.5)]

# load a second mesh of an iphone
iphone2 = env.LoadMesh(path="/home/davin123/RCareWorld/pyrcareworld/pyrcareworld/demo/mesh/iphone/box.obj")
iphone2.SetTransform(
    position=position1,
    scale=(1, 1, 1)
)
# iphone2.SetKinematic(is_kinematic=True)
iphone2.SetUseGravity(use_gravity=False)
env.step(20)```

[YoruCathy]

Hi Davin, I'll try this out on my end. Could you confirm that you are using the latest commit on the phy-robo-care branch? Thanks!