Sync main with dev

.github/ISSUE_TEMPLATE/bug-report.md

@@ -0,0 +1,53 @@
+---
+name: Bug report
+about: Describe this issue template's purpose here.
+title: Bug report (Put a informative title here, eg. Robot not moving while doing
+  position control using Unity Editor)
+labels: ''
+assignees: YoruCathy
+
+---
+
+Thank you for your interest in RCareWorld!
+If this is your first issue with us, make sure you've checked out the contributor guidelines:
+
+https://github.com/empriselab/RCareWorld/blob/main/CONTRIBUTING.md
+
+Please take some time to fill in the blanks completely, this help us understand your problem more easily. We recommend using the `issues` section for Bug-related questions. Please refer to `Discussion` if you have any questions in general.
+
+Please make sure you have read the documentation and checked the existing issues and discussion forum. 
+
+Please complete the checklist below before proceeding.
+
+- [ ] I've read the documentation and my issue was not mentioned there.
+- [ ] I've done a thorough search in https://github.com/empriselab/RCareWorld/issues
+- [ ] I've done a thorough search in https://github.com/empriselab/RCareWorld/discussions
+
+**Describe the issue**
+> Please write a clear and concise description of what the issue is, e.g.:
+> I was running a custom script to control the robot, but the robot doesn't move.
+
+
+**How To Reproduce**
+> Please concisely describe the steps before you encounter the issue, e.g.:
+>
+> 1. I was using the Unity editor/executables
+> 2. My Python script is as follows... My Unity file is like this...
+> 3. It gives an error about... On the Python side, something shows up. On the Unity side, something shows up.
+
+
+**Screenshots**
+> Add screenshots to help explain your problem.
+> Hint: You can use Ctrl+C Ctrl+V to paste an image here.
+> Also, attaching the screenshot of the console could be very helpful for us to diagnose what happened. Videos will be more helpful and informative for us to understand the problem.
+
+**Attempts towards solving the problem**
+> Have you tried anything on your end to resolve this issue? This will help us understand what doesn't work and provide you with some solutions more efficiently.
+
+**Environment**
+ - System: Windows 7/8/10/WSL, Ubuntu 20.04/18.04, etc.
+ - Python: 3.9/3.10
+ - RCareWorld version: commit ID
+
+**Additional Information**
+> Anything else we should be aware of?

pyrcareworld/pyrcareworld/attributes/custom_attr.py

@@ -6,31 +6,32 @@
 import pyrcareworld.utils.utility as utility
 
 
-# 消息解析示例
+# Message parsing example
 def parse_message(msg: IncomingMessage) -> dict:
-    # 先完成所继承的基类的数据读取
+    # First, read the data inherited from the base class
     this_object_data = attr.base_attr.parse_message(msg)
-    # 按顺序读取数据
-    # 此处读取顺序对应Unity的CustomAttr脚本CollectData函数中的写入顺序
+    # Read data in order
+    # The order of reading here corresponds to the writing order in the CollectData function of Unity's CustomAttr script
     this_object_data["custom_message"] = msg.read_string()
     return this_object_data
 
 
-# 新增接口示例
+# New interface example
 def CustomMessage(kwargs: dict) -> OutgoingMessage:
-    # 必要参数
+    # Mandatory parameters
     compulsory_params = ["id", "message"]
-    # 非必要参数
+    # Optional parameters
     optional_params = []
-    # 参数检查
+    # Parameter check
     utility.CheckKwargs(kwargs, compulsory_params)
 
     msg = OutgoingMessage()
-    # 第一个写入的数据必须是ID
+    # The first data must be ID
     msg.write_int32(kwargs["id"])
-    # 第二个写入的数据必须是消息类型 此处CustomMessage对应Unity新增Attr脚本AnalysisMsg函数switch的一个分支
+    # The second data must be message type. 
+    # Here, CustomMessage correspond to one branch of 'switch' in AnalysingMsg function from Unity's new Attr script
     msg.write_string("CustomMessage")
-    # 按顺序写入数据
+    # Write data in order
     msg.write_string(kwargs["message"])
 
-    return msg
+    return msg

pyrcareworld/pyrcareworld/attributes/graspsim_attr.py

@@ -21,7 +21,7 @@ def parse_message(msg: IncomingMessage) -> dict:
     return this_object_data
 
 
-# 新增接口示例
+# Adding new interface example
 def StartGraspSim(kwargs: dict) -> OutgoingMessage:
     compulsory_params = [
         "id",

pyrcareworld/pyrcareworld/rfuniverse_channel/asset_channel_ext.py

@@ -5,33 +5,33 @@
 import pyrcareworld.utils.utility as utility
 
 
-# 消息解析
+# Message parsing
 def parse_message(msg: IncomingMessage, msg_type: str) -> dict:
     this_data = {}
-    # 根据头字符串添加自己的分支
-    # 此处CustomMessage对应Unity中AssetManagerExt脚本CustomMessage接口函数中写入的第一个头字符串
+    # Add your own branch based on the header string
+    # CustomMessage corresponds to the first header string in the CustomMessage interface function of Unity's AssetManagerExt script
     if msg_type == "CustomMessage":
-        # 按顺序读取数据
-        # 此处读取顺序对应Unity中使用SendMetaDataToPython前写入顺序
+        # Read data in order
+        #  The reading order corresponds to the writing order before using SendMetaDataToPython in Unity
         data = msg.read_string()
         this_data["custom_message"] = data
-    # 将数据写入到data中返回
+    # write data into this_data and return
     return this_data
 
 
-# 新增接口示例
+# Adding new interface example
 def CustomMessage(kwargs: dict) -> OutgoingMessage:
-    # 必要参数
+    # Mandatory parameters
     compulsory_params = ["message"]
-    # 非必要参数
+    # Optional parameters
     optional_params = []
-    # 参数检查
+    # Parameters check
     utility.CheckKwargs(kwargs, compulsory_params)
 
     msg = OutgoingMessage()
-    # 第一个写入的数据必须是消息类型
-    # 此处CustomMessage对应Unity中AssetManagerExt脚本AnalysisMsg函数switch的CustomMessage分支
+    # First data to be written must be message type
+    # CustomMessage corresponds to the CustomMessage branch of the switch in the AnalysisMsg function of the AssetManagerExt script in Unity
     msg.write_string("CustomMessage")
-    # 按顺序写入自己想要发送的数据
+    # Write the data to be sent in order
     msg.write_string(kwargs["message"])
     return msg

pyrcareworld/requirements.txt

@@ -1,6 +1,6 @@
 cloudpickle==2.2.1
 grpcio==1.51.1
-# gym==0.21.0
+gymnasium==0.29.1
 numpy==1.24.2
 open3d==0.16.0
 opencv-contrib-python==4.5.4.60