Camera Instance Object

pyrcareworld/pyrcareworld/envs/base_env.py

@@ -413,7 +413,7 @@ def RemoveListenerObject(self, type: str):
         """
         self.listen_object.pop(type)
 
-    def InstanceObject(self, name: str, id: int = None, attr_type: type = attr.BaseAttr):
+    def InstanceObject(self, name: str, id: int = None, attr_type: type = attr.BaseAttr) -> attr.BaseAttr:
         """
         Instantiate an object.
 

template/Bathing/BathingPlayer_Data/StreamingAssets/aa/AddressablesLink/link.xml

@@ -31,6 +31,7 @@
     <type fullname="GelSlimAttr" preserve="all" />
     <type fullname="GelSlimCollider" preserve="all" />
     <type fullname="IgnoreSelfCollision" preserve="all" />
+    <type fullname="RCareWorld.Attributes.CameraAttr" preserve="all" />
     <type fullname="RCareWorld.Attributes.ColliderAttr" preserve="all" />
     <type fullname="RCareWorld.Attributes.ControllerAttr" preserve="all" />
     <type fullname="RCareWorld.Attributes.Digit.GelSlimTarget" preserve="all" />
@@ -64,6 +65,9 @@
     <type fullname="TMPro.TextMeshProUGUI" preserve="all" />
     <type fullname="TMPro.VertexGradient" preserve="nothing" serialized="true" />
   </assembly>
+  <assembly fullname="UnityEngine.AudioModule, Version=0.0.0.0, Culture=neutral, PublicKeyToken=null">
+    <type fullname="UnityEngine.AudioListener" preserve="all" />
+  </assembly>
   <assembly fullname="UnityEngine.CoreModule, Version=0.0.0.0, Culture=neutral, PublicKeyToken=null">
     <type fullname="UnityEngine.Camera" preserve="all" />
     <type fullname="UnityEngine.GameObject" preserve="all" />

template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.11.11.16.09.28.hash

@@ -0,0 +1 @@
+3ebd5dbcd870a52ac6d39e6da20bdd3e

template/Bathing/BathingPlayer_Data/StreamingAssets/aa/settings.json

@@ -1 +1 @@
-{"m_buildTarget":"StandaloneLinux64","m_SettingsHash":"5c49d9d8cf6b16df8e125c3807c07d00","m_CatalogLocations":[{"m_Keys":["AddressablesMainContentCatalogRemoteHash"],"m_InternalId":"{UnityEngine.AddressableAssets.Addressables.RuntimePath}/StandaloneLinux64/catalog_2024.11.01.17.16.08.hash","m_Provider":"UnityEngine.ResourceManagement.ResourceProviders.TextDataProvider","m_Dependencies":[],"m_ResourceType":{"m_AssemblyName":"mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089","m_ClassName":"System.String"},"SerializedData":[7,76,85,110,105,116,121,46,82,101,115,111,117,114,99,101,77,97,110,97,103,101,114,44,32,86,101,114,115,105,111,110,61,48,46,48,46,48,46,48,44,32,67,117,108,116,117,114,101,61,110,101,117,116,114,97,108,44,32,80,117,98,108,105,99,75,101,121,84,111,107,101,110,61,110,117,108,108,75,85,110,105,116,121,69,110,103,105,110,101,46,82,101,115,111,117,114,99,101,77,97,110,97,103,101,109,101,110,116,46,82,101,115,111,117,114,99,101,80,114,111,118,105,100,101,114,115,46,80,114,111,118,105,100,101,114,76,111,97,100,82,101,113,117,101,115,116,79,112,116,105,111,110,115,50,0,0,0,123,0,34,0,109,0,95,0,73,0,103,0,110,0,111,0,114,0,101,0,70,0,97,0,105,0,108,0,117,0,114,0,101,0,115,0,34,0,58,0,116,0,114,0,117,0,101,0,125,0]},{"m_Keys":["AddressablesMainContentCatalogCacheHash"],"m_InternalId":"{UnityEngine.Application.persistentDataPath}/com.unity.addressables/catalog_2024.11.01.17.16.08.hash","m_Provider":"UnityEngine.ResourceManagement.ResourceProviders.TextDataProvider","m_Dependencies":[],"m_ResourceType":{"m_AssemblyName":"mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089","m_ClassName":"System.String"},"SerializedData":[7,76,85,110,105,116,121,46,82,101,115,111,117,114,99,101,77,97,110,97,103,101,114,44,32,86,101,114,115,105,111,110,61,48,46,48,46,48,46,48,44,32,67,117,108,116,117,114,101,61,110,101,117,116,114,97,108,44,32,80,117,98,108,105,99,75,101,121,84,111,107,101,110,61,110,117,108,108,75,85,110,105,116,121,69,110,103,105,110,101,46,82,101,115,111,117,114,99,101,77,97,110,97,103,101,109,101,110,116,46,82,101,115,111,117,114,99,101,80,114,111,118,105,100,101,114,115,46,80,114,111,118,105,100,101,114,76,111,97,100,82,101,113,117,101,115,116,79,112,116,105,111,110,115,50,0,0,0,123,0,34,0,109,0,95,0,73,0,103,0,110,0,111,0,114,0,101,0,70,0,97,0,105,0,108,0,117,0,114,0,101,0,115,0,34,0,58,0,116,0,114,0,117,0,101,0,125,0]},{"m_Keys":["AddressablesMainContentCatalog"],"m_InternalId":"{UnityEngine.AddressableAssets.Addressables.RuntimePath}/catalog.json","m_Provider":"UnityEngine.AddressableAssets.ResourceProviders.ContentCatalogProvider","m_Dependencies":["AddressablesMainContentCatalogRemoteHash","AddressablesMainContentCatalogCacheHash"],"m_ResourceType":{"m_AssemblyName":"Unity.Addressables, Version=0.0.0.0, Culture=neutral, PublicKeyToken=null","m_ClassName":"UnityEngine.AddressableAssets.ResourceLocators.ContentCatalogData"},"SerializedData":[7,76,85,110,105,116,121,46,82,101,115,111,117,114,99,101,77,97,110,97,103,101,114,44,32,86,101,114,115,105,111,110,61,48,46,48,46,48,46,48,44,32,67,117,108,116,117,114,101,61,110,101,117,116,114,97,108,44,32,80,117,98,108,105,99,75,101,121,84,111,107,101,110,61,110,117,108,108,75,85,110,105,116,121,69,110,103,105,110,101,46,82,101,115,111,117,114,99,101,77,97,110,97,103,101,109,101,110,116,46,82,101,115,111,117,114,99,101,80,114,111,118,105,100,101,114,115,46,80,114,111,118,105,100,101,114,76,111,97,100,82,101,113,117,101,115,116,79,112,116,105,111,110,115,50,0,0,0,123,0,34,0,109,0,95,0,73,0,103,0,110,0,111,0,114,0,101,0,70,0,97,0,105,0,108,0,117,0,114,0,101,0,115,0,34,0,58,0,116,0,114,0,117,0,101,0,125,0]}],"m_ProfileEvents":false,"m_LogResourceManagerExceptions":true,"m_ExtraInitializationData":[],"m_DisableCatalogUpdateOnStart":false,"m_IsLocalCatalogInBundle":false,"m_CertificateHandlerType":{"m_AssemblyName":"","m_ClassName":""},"m_AddressablesVersion":"1.21.21","m_maxConcurrentWebRequests":500,"m_CatalogRequestsTimeout":0}
+{"m_buildTarget":"StandaloneLinux64","m_SettingsHash":"6c8c9e68231548b35e2dfbf0634d972a","m_CatalogLocations":[{"m_Keys":["AddressablesMainContentCatalogRemoteHash"],"m_InternalId":"{UnityEngine.AddressableAssets.Addressables.RuntimePath}/StandaloneLinux64/catalog_2024.11.11.16.09.28.hash","m_Provider":"UnityEngine.ResourceManagement.ResourceProviders.TextDataProvider","m_Dependencies":[],"m_ResourceType":{"m_AssemblyName":"mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089","m_ClassName":"System.String"},"SerializedData":[7,76,85,110,105,116,121,46,82,101,115,111,117,114,99,101,77,97,110,97,103,101,114,44,32,86,101,114,115,105,111,110,61,48,46,48,46,48,46,48,44,32,67,117,108,116,117,114,101,61,110,101,117,116,114,97,108,44,32,80,117,98,108,105,99,75,101,121,84,111,107,101,110,61,110,117,108,108,75,85,110,105,116,121,69,110,103,105,110,101,46,82,101,115,111,117,114,99,101,77,97,110,97,103,101,109,101,110,116,46,82,101,115,111,117,114,99,101,80,114,111,118,105,100,101,114,115,46,80,114,111,118,105,100,101,114,76,111,97,100,82,101,113,117,101,115,116,79,112,116,105,111,110,115,50,0,0,0,123,0,34,0,109,0,95,0,73,0,103,0,110,0,111,0,114,0,101,0,70,0,97,0,105,0,108,0,117,0,114,0,101,0,115,0,34,0,58,0,116,0,114,0,117,0,101,0,125,0]},{"m_Keys":["AddressablesMainContentCatalogCacheHash"],"m_InternalId":"{UnityEngine.Application.persistentDataPath}/com.unity.addressables/catalog_2024.11.11.16.09.28.hash","m_Provider":"UnityEngine.ResourceManagement.ResourceProviders.TextDataProvider","m_Dependencies":[],"m_ResourceType":{"m_AssemblyName":"mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089","m_ClassName":"System.String"},"SerializedData":[7,76,85,110,105,116,121,46,82,101,115,111,117,114,99,101,77,97,110,97,103,101,114,44,32,86,101,114,115,105,111,110,61,48,46,48,46,48,46,48,44,32,67,117,108,116,117,114,101,61,110,101,117,116,114,97,108,44,32,80,117,98,108,105,99,75,101,121,84,111,107,101,110,61,110,117,108,108,75,85,110,105,116,121,69,110,103,105,110,101,46,82,101,115,111,117,114,99,101,77,97,110,97,103,101,109,101,110,116,46,82,101,115,111,117,114,99,101,80,114,111,118,105,100,101,114,115,46,80,114,111,118,105,100,101,114,76,111,97,100,82,101,113,117,101,115,116,79,112,116,105,111,110,115,50,0,0,0,123,0,34,0,109,0,95,0,73,0,103,0,110,0,111,0,114,0,101,0,70,0,97,0,105,0,108,0,117,0,114,0,101,0,115,0,34,0,58,0,116,0,114,0,117,0,101,0,125,0]},{"m_Keys":["AddressablesMainContentCatalog"],"m_InternalId":"{UnityEngine.AddressableAssets.Addressables.RuntimePath}/catalog.json","m_Provider":"UnityEngine.AddressableAssets.ResourceProviders.ContentCatalogProvider","m_Dependencies":["AddressablesMainContentCatalogRemoteHash","AddressablesMainContentCatalogCacheHash"],"m_ResourceType":{"m_AssemblyName":"Unity.Addressables, Version=0.0.0.0, Culture=neutral, PublicKeyToken=null","m_ClassName":"UnityEngine.AddressableAssets.ResourceLocators.ContentCatalogData"},"SerializedData":[7,76,85,110,105,116,121,46,82,101,115,111,117,114,99,101,77,97,110,97,103,101,114,44,32,86,101,114,115,105,111,110,61,48,46,48,46,48,46,48,44,32,67,117,108,116,117,114,101,61,110,101,117,116,114,97,108,44,32,80,117,98,108,105,99,75,101,121,84,111,107,101,110,61,110,117,108,108,75,85,110,105,116,121,69,110,103,105,110,101,46,82,101,115,111,117,114,99,101,77,97,110,97,103,101,109,101,110,116,46,82,101,115,111,117,114,99,101,80,114,111,118,105,100,101,114,115,46,80,114,111,118,105,100,101,114,76,111,97,100,82,101,113,117,101,115,116,79,112,116,105,111,110,115,50,0,0,0,123,0,34,0,109,0,95,0,73,0,103,0,110,0,111,0,114,0,101,0,70,0,97,0,105,0,108,0,117,0,114,0,101,0,115,0,34,0,58,0,116,0,114,0,117,0,101,0,125,0]}],"m_ProfileEvents":false,"m_LogResourceManagerExceptions":true,"m_ExtraInitializationData":[],"m_DisableCatalogUpdateOnStart":false,"m_IsLocalCatalogInBundle":false,"m_CertificateHandlerType":{"m_AssemblyName":"","m_ClassName":""},"m_AddressablesVersion":"1.21.21","m_maxConcurrentWebRequests":500,"m_CatalogRequestsTimeout":0}

template/Bathing/BathingPlayer_Data/boot.config

@@ -2,4 +2,4 @@ wait-for-native-debugger=0
 hdr-display-enabled=0
 gc-max-time-slice=3
 force-d3d11-bitblt-model=
-build-guid=1e555565fc254b44a7024ead0fedce4f
+build-guid=f95dac1bbcae48a0ae6fa8c3b1d0360f

tests/test_bathing_env.py

@@ -3,6 +3,7 @@
 NOTE: run this file with pytest -s tests/test_bathing_env.py.
 """
 
+from pyrcareworld.attributes.camera_attr import CameraAttr
 from pyrcareworld.envs.bathing_env import BathingEnv
 
 import pytest
@@ -181,3 +182,16 @@ def test_joint_names(bathing_env: BathingEnv):
     assert "link_lift" in robot.data["names"]
 
     bathing_env.step()
+
+def test_instance_object(bathing_env: BathingEnv):
+    new_cam: CameraAttr = bathing_env.InstanceObject(name="Camera", id=123456, attr_type=CameraAttr)
+    new_cam.SetTransform(position=[0, 1.7, 0], rotation=[90, 0, 0])
+
+    for _ in range(3):
+        new_cam.GetRGB(512, 512)
+        bathing_env.step()
+        rgb = np.frombuffer(new_cam.data["rgb"], dtype=np.uint8)
+        print(rgb.shape)
+        assert(rgb.shape[0] > 0)
+
+    # TODO: Add tests for instancing other objects if needed.