release v0.30.2

Author: ghzh26252

pyrfuniverse/__init__.py

@@ -1,5 +1,5 @@
 # Version of the library that will be used to upload to pypi
-__version__ = "0.30.1"
+__version__ = "0.30.2"
 
 import os.path
 import json

test/pyrfuniverse_test/__init__.py

@@ -1,4 +1,4 @@
-__version__ = "0.30.1"
+__version__ = "0.30.2"
 
 import os
 

test/pyrfuniverse_test/test/test_cloth_attach.py

@@ -3,6 +3,7 @@
 
 import cv2
 import numpy as np
+from pyrfuniverse.attributes.camera_attr import CameraAttr
 
 sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..")))
 import os.path
@@ -17,6 +18,9 @@
     path=t_shirt_path
 )
 mesh.SetTransform(position=[0, 0.5, 0])
+camera = env.InstanceObject("Camera", attr_type=CameraAttr)
+camera.SetTransform(position=[0, 1, -1])
+camera.LookAt([0, 0.5, 0])
 env.step(200)
 mesh.GetParticles()
 env.step()
@@ -42,3 +46,10 @@
     point1.DoMove([-0.25, 1, 0.5], 0.5)
     point2.DoMove([0.25, 1, 0.5], 0.5)
     point2.WaitDo()
+
+    camera.GetRGB(width=1024, height=512)
+    env.step()
+    image = np.frombuffer(camera.data["rgb"], dtype=np.uint8)
+    image = cv2.imdecode(image, cv2.IMREAD_COLOR)
+    cv2.imshow("depth", image)
+    cv2.waitKey(0)