Add test case for acquiring attrs

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

@@ -36,6 +36,7 @@
     <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.CustomAttr" preserve="all" />
     <type fullname="RCareWorld.Attributes.Digit.GelSlimTarget" preserve="all" />
     <type fullname="RCareWorld.Attributes.HumanArticulationAttr" preserve="all" />
     <type fullname="RCareWorld.Attributes.OmplManagerAttr" preserve="all" />

template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.12.11.18.21.25.hash

@@ -0,0 +1 @@
+3d9aae6d00aa6a02783170b85c0c324d

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

@@ -1 +1 @@
-{"m_buildTarget":"StandaloneLinux64","m_SettingsHash":"26dc9acde2b22f68c07fe63969da9108","m_CatalogLocations":[{"m_Keys":["AddressablesMainContentCatalogRemoteHash"],"m_InternalId":"{UnityEngine.AddressableAssets.Addressables.RuntimePath}/StandaloneLinux64/catalog_2024.11.18.17.07.29.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_2024.11.18.17.07.29.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":"9e657822b4417684a383df4b1a9268b6","m_CatalogLocations":[{"m_Keys":["AddressablesMainContentCatalogRemoteHash"],"m_InternalId":"{UnityEngine.AddressableAssets.Addressables.RuntimePath}/StandaloneLinux64/catalog_2024.12.11.18.21.25.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_2024.12.11.18.21.25.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=407fe9328f1c4c6d846d9630d9284a8b
+build-guid=01316f8b5a1a4aa494f1c74bd8c5aa51

template/asdf.py

@@ -0,0 +1,29 @@
+
+from pyrcareworld.envs.base_env import RCareWorld
+from pyrcareworld.demo import urdf_path
+from pyrcareworld.demo import mesh_path
+import os
+
+env = RCareWorld(executable_file="@editor", graphics=False)
+
+robot = env.LoadURDF(
+  path=os.path.join(urdf_path, "UR5/ur5_robot.urdf"),
+  native_ik=False,
+  id=1
+)
+
+mesh = env.LoadMesh(
+  path=os.path.join(mesh_path, "002_master_chef_can/google_16k/textured.obj",),
+  id=2
+)
+
+t_shirt_path = os.path.join(mesh_path, 'Tshirt.obj')
+cloth = env.LoadCloth(path=t_shirt_path, id=3)
+
+env.step(3)
+
+assert env.GetAttr(1) == robot
+assert env.GetAttr(2) == mesh
+assert env.GetAttr(3) == cloth
+
+env.close()

tests/test_bathing_env.py

@@ -194,6 +194,45 @@ def test_instance_camera(bathing_env: BathingEnv):
         print(rgb.shape)
         assert(rgb.shape[0] > 0)
 
+def test_access_attrs(bathing_env: BathingEnv):
+    """
+    Test that all of the following can be gotten without error:
+    # _gripper_id: int = 2215820
+    # _robot_id: int = 221582
+    # _camera_id: int = 654321
+    # _sponge_id: int = 91846
+    # _bed_id: int = 758554
+    # _drawer_id: int = 758666
+    # _person_id: int = 573920
+    # _randomizer_id: int = 777
+    """
+
+    gripper = bathing_env.get_gripper()
+    robot = bathing_env.get_robot()
+    camera = bathing_env.get_camera()
+    sponge = bathing_env.get_sponge()
+    bed = bathing_env.GetAttr(758554)
+    drawer = bathing_env.GetAttr(758666)
+    person = bathing_env.GetAttr(573920)
+    person_randomizer = bathing_env.get_person_randomizer()
+
+    assert gripper
+    assert robot
+    assert camera
+    assert sponge
+    assert bed
+    assert drawer
+    assert person
+    assert person_randomizer
+
+    # Also test that the camera can be read from.
+    for _ in range(3):
+        camera.GetRGB(512, 512)
+        bathing_env.step()
+        rgb = np.frombuffer(camera.data["rgb"], dtype=np.uint8)
+        print(rgb.shape)
+        assert(rgb.shape[0] > 0)
+
 def test_sponge_force():
     """
     Test for the sponge force. Teleports the sponge to the right thigh and reads the force.