diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 874fa742..3670234a 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -37,6 +37,7 @@ jobs:
           cd ../
 
           python3 -m pip install https://github.com/ompl/ompl/releases/download/prerelease/ompl-1.6.0-cp310-cp310-manylinux_2_28_x86_64.whl
+          sudo apt-get install libminizip1
 
       - name: Run unit tests
         run: |
diff --git a/README.md b/README.md
index c97cec2f..3cded747 100644
--- a/README.md
+++ b/README.md
@@ -24,6 +24,7 @@ If you have an NVIDIA GPU, install an NVIDIA Driver from the official [NVIDIA Dr
 Install the necessary libraries:
 ```
 sudo apt-get update
+sudo apt-get install libminizip1
 sudo apt-get install libassimp-dev libopenblas-dev liblapack-dev
 ```
 
diff --git a/pyrcareworld/pyrcareworld/demo/examples/example_custom_message.py b/pyrcareworld/pyrcareworld/demo/examples/example_custom_message.py
index 5c09a85d..a214141b 100644
--- a/pyrcareworld/pyrcareworld/demo/examples/example_custom_message.py
+++ b/pyrcareworld/pyrcareworld/demo/examples/example_custom_message.py
@@ -19,51 +19,59 @@
 import os
 import sys
 import pyrcareworld.attributes as attr
-
-sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..")))
-
+import argparse
 from pyrcareworld.demo import executable_path
 from pyrcareworld.envs.base_env import RCareWorld
 
-# Initialize the environment with the specified scene file
-player_path = os.path.join(executable_path, "../executable/Player/Player.x86_64")
 
-# Initialize the environment with a custom asset
-env = RCareWorld(assets=["CustomAttr"], executable_file=player_path)
+def _main(dev):
+    sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..")))
+
+    # Initialize the environment with the specified scene file
+    player_path = os.path.join(executable_path, "../executable/Player/Player.x86_64")
+
+    # Initialize the environment with a custom asset
+    env = RCareWorld(executable_file="@editor" if dev else player_path, assets=["CustomAttr"])
+
+    # Create an instance of a custom attribute and send a custom message
+    custom = env.InstanceObject(name="CustomAttr", id=1, attr_type=attr.CustomAttr)
+    custom.CustomMessage(message="this is instance channel custom message")
 
-# Create an instance of a custom attribute and send a custom message
-custom = env.InstanceObject(name="CustomAttr", id=123456, attr_type=attr.CustomAttr)
-custom.CustomMessage(message="this is instance channel custom message")
+    # Perform a simulation step to process the custom message
+    env.step()
 
-# Perform a simulation step to process the custom message
-env.step()
+    # Print the custom message data
+    print(custom.data["custom_message"])
 
-# Print the custom message data
-print(custom.data["custom_message"])
+    # Callback function to handle dynamic object messages
+    def dynamic_object_callback(args):
+        for i, arg in enumerate(args):
+            print(f"Arg {i}: {arg}", type(arg))
 
-# Callback function to handle dynamic object messages
-def dynamic_object_callback(args):
-    for i, arg in enumerate(args):
-        print(f"Arg {i}: {arg}")
+    # Add a listener for dynamic object messages
+    env.AddListenerObject("DynamicObject", dynamic_object_callback)
 
-# Add a listener for dynamic object messages
-env.AddListenerObject("DynamicObject", dynamic_object_callback)
+    # Send a dynamic object message with various data types
+    env.SendObject(
+        "DynamicObject",
+        "string:", "this is dynamic object",
+        "int:", 1,
+        "bool:", True,
+        "float:", 4849.6564,
+        "list:", [616445.085, 9489984.0, 65419596.0, 9849849.0],
+        "dict:", {"1": 1, "2": 2, "3": 3},
+        "tuple:", ("1", 1, 0.562)
+    )
 
-# Send a dynamic object message with various data types
-env.SendObject(
-    "DynamicObject",
-    "string:", "this is dynamic object",
-    "int:", 123456,
-    "bool:", True,
-    "float:", 4849.6564,
-    "list:", [616445.085, 9489984.0, 65419596.0, 9849849.0],
-    "dict:", {"1": 1, "2": 2, "3": 3},
-    "tuple:", ("1", 1, 0.562)
-)
+    # Perform a simulation step to process the dynamic object message
+    env.step()
 
-# Perform a simulation step to process the dynamic object message
-env.step()
+    # Close the environment
+    env.Pend()
+    env.close()
 
-# Close the environment
-env.Pend()
-env.close()
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description='Run RCareWorld bathing environment simulation for sponge forces.')
+    parser.add_argument('-d', '--dev', action='store_true', help='Run in developer mode')
+    args = parser.parse_args()
+    _main(args.dev)
diff --git a/pyrcareworld/pyrcareworld/demo/examples/example_save_scene.py b/pyrcareworld/pyrcareworld/demo/examples/example_save_scene.py
new file mode 100644
index 00000000..8620455c
--- /dev/null
+++ b/pyrcareworld/pyrcareworld/demo/examples/example_save_scene.py
@@ -0,0 +1,63 @@
+from pyrcareworld.envs.base_env import RCareWorld
+import pyrcareworld.attributes as attr
+
+import os
+import sys
+import argparse
+import pytest
+from pyrcareworld.demo import executable_path
+
+def _main(dev):
+  sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..")))
+  # Initialize the environment with the specified scene file
+  player_path = os.path.join(executable_path, "../executable/Player/Player.x86_64")
+
+  env = RCareWorld(assets=["Collider_Box", "Rigidbody_Sphere"], executable_file="@editor" if dev else player_path)
+
+  box1 = env.InstanceObject(name="Collider_Box", attr_type=attr.ColliderAttr, id=1)
+  box1.SetTransform(position=[-0.5, 0.5, 0], scale=[0.1, 1, 1])
+  box2 = env.InstanceObject(name="Collider_Box", attr_type=attr.ColliderAttr, id=2)
+  box2.SetTransform(position=[0.5, 0.5, 0], scale=[0.1, 1, 1])
+  box3 = env.InstanceObject(name="Collider_Box", attr_type=attr.ColliderAttr, id=3)
+  box3.SetTransform(position=[0, 0.5, 0.5], scale=[1, 1, 0.1])
+  box4 = env.InstanceObject(name="Collider_Box", attr_type=attr.ColliderAttr, id=4)
+  box4.SetTransform(position=[0, 0.5, -0.5], scale=[1, 1, 0.1])
+  sphere = env.InstanceObject(name="Rigidbody_Sphere", attr_type=attr.RigidbodyAttr, id=5)
+  sphere.SetTransform(position=[0, 0.5, 0], scale=[0.5, 0.5, 0.5])
+  env.Pend()
+
+  env.SaveScene("test_scene.json")
+  env.ClearScene()
+  env.Pend()
+
+  with pytest.raises(AssertionError):
+    env.GetAttr(1)
+
+  with pytest.raises(AssertionError):
+    env.GetAttr(2)
+
+  with pytest.raises(AssertionError):
+    env.GetAttr(3)
+
+  with pytest.raises(AssertionError):
+    env.GetAttr(4)
+
+  with pytest.raises(AssertionError):
+    env.GetAttr(5)
+
+  env.LoadSceneAsync("test_scene.json")
+  env.Pend()
+
+  assert env.GetAttr(1).data["name"] == "Collider_Box"
+  assert env.GetAttr(2).data["name"] == "Collider_Box"
+  assert env.GetAttr(3).data["name"] == "Collider_Box"
+  assert env.GetAttr(4).data["name"] == "Collider_Box"
+  assert env.GetAttr(5).data["name"] == "Rigidbody_Sphere"
+
+  env.close()
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description='Run RCareWorld bathing environment simulation for sponge forces.')
+    parser.add_argument('-d', '--dev', action='store_true', help='Run in developer mode')
+    args = parser.parse_args()
+    _main(args.dev)
diff --git a/pyrcareworld/pyrcareworld/demo/examples/test_scene.py b/pyrcareworld/pyrcareworld/demo/examples/test_scene.py
deleted file mode 100644
index e194505a..00000000
--- a/pyrcareworld/pyrcareworld/demo/examples/test_scene.py
+++ /dev/null
@@ -1,31 +0,0 @@
-from pyrcareworld.envs.base_env import RCareWorld
-import pyrcareworld.attributes as attr
-
-import os
-import sys
-sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..")))
-from pyrcareworld.demo import executable_path
-# Initialize the environment with the specified scene file
-player_path = os.path.join(executable_path, "../executable/Player/Player.x86_64")
-
-env = RCareWorld(assets=["Collider_Box", "Rigidbody_Sphere"], executable_file=player_path)
-
-box1 = env.InstanceObject(name="Collider_Box", attr_type=attr.ColliderAttr)
-box1.SetTransform(position=[-0.5, 0.5, 0], scale=[0.1, 1, 1])
-box2 = env.InstanceObject(name="Collider_Box", attr_type=attr.ColliderAttr)
-box2.SetTransform(position=[0.5, 0.5, 0], scale=[0.1, 1, 1])
-box3 = env.InstanceObject(name="Collider_Box", attr_type=attr.ColliderAttr)
-box3.SetTransform(position=[0, 0.5, 0.5], scale=[1, 1, 0.1])
-box4 = env.InstanceObject(name="Collider_Box", attr_type=attr.ColliderAttr)
-box4.SetTransform(position=[0, 0.5, -0.5], scale=[1, 1, 0.1])
-sphere = env.InstanceObject(name="Rigidbody_Sphere", attr_type=attr.RigidbodyAttr)
-sphere.SetTransform(position=[0, 0.5, 0], scale=[0.5, 0.5, 0.5])
-env.Pend()
-
-env.SaveScene("test_scene.json")
-env.ClearScene()
-env.Pend()
-
-env.LoadSceneAsync("test_scene.json")
-env.Pend()
-env.close()
diff --git a/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/Managed/Assembly-CSharp.dll b/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/Managed/Assembly-CSharp.dll
index cfadc968..98305b6d 100644
Binary files a/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/Managed/Assembly-CSharp.dll and b/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/Managed/Assembly-CSharp.dll differ
diff --git a/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/Managed/RCareWorld.dll b/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/Managed/RCareWorld.dll
index dee88edc..94951d5d 100644
Binary files a/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/Managed/RCareWorld.dll and b/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/Managed/RCareWorld.dll differ
diff --git a/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/StreamingAssets/SceneData/test_scene.json b/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/StreamingAssets/SceneData/test_scene.json
index 43db0ee4..4b7d8fc6 100644
--- a/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/StreamingAssets/SceneData/test_scene.json
+++ b/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/StreamingAssets/SceneData/test_scene.json
@@ -1,9 +1,9 @@
 {
   "ground": true,
   "cameraPosition": [
-    1.46047318,
+    0.0,
     1.0,
-    -6.585111
+    -5.0
   ],
   "cameraRotation": [
     0.0,
@@ -11,940 +11,13 @@
     0.0
   ],
   "groundPosition": [
-    1.46047318,
     0.0,
-    -1.58511126
+    0.0,
+    0.0
   ],
   "assetsData": [
     {
-      "$type": "RFUniverse.Attributes.ControllerData, RFUniverse",
-      "articulationDatas": [
-        {
-          "artIndexQueue": [
-            0,
-            3
-          ],
-          "anchorPosition": [
-            0.0,
-            0.0,
-            0.0
-          ],
-          "anchorRotation": [
-            0.0,
-            0.0,
-            -0.7071068,
-            0.7071068
-          ],
-          "JointType": 2,
-          "linearLockX": 0,
-          "linearLockY": 0,
-          "linearLockZ": 0,
-          "swingYLock": 2,
-          "swingZLock": 2,
-          "twistLock": 2,
-          "xDrive": {
-            "lowerLimit": 0.0,
-            "upperLimit": 0.0,
-            "stiffness": 100000.0,
-            "damping": 9000.0,
-            "forceLimit": 3.40282347E+38,
-            "target": 0.0,
-            "targetVelocity": 0.0
-          },
-          "yDrive": {
-            "lowerLimit": 0.0,
-            "upperLimit": 0.0,
-            "stiffness": 100000.0,
-            "damping": 9000.0,
-            "forceLimit": 3.40282347E+38,
-            "target": 0.0,
-            "targetVelocity": 0.0
-          },
-          "zDrive": {
-            "lowerLimit": 0.0,
-            "upperLimit": 0.0,
-            "stiffness": 100000.0,
-            "damping": 9000.0,
-            "forceLimit": 3.40282347E+38,
-            "target": 0.0,
-            "targetVelocity": 0.0
-          }
-        },
-        {
-          "artIndexQueue": [
-            0,
-            3,
-            3
-          ],
-          "anchorPosition": [
-            0.0,
-            0.0,
-            0.0
-          ],
-          "anchorRotation": [
-            0.0,
-            0.0,
-            -0.7071068,
-            0.7071068
-          ],
-          "JointType": 2,
-          "linearLockX": 1,
-          "linearLockY": 0,
-          "linearLockZ": 0,
-          "swingYLock": 2,
-          "swingZLock": 2,
-          "twistLock": 1,
-          "xDrive": {
-            "lowerLimit": -138.082825,
-            "upperLimit": 138.082825,
-            "stiffness": 100000.0,
-            "damping": 9000.0,
-            "forceLimit": 3.40282347E+38,
-            "target": 0.0,
-            "targetVelocity": 0.0
-          },
-          "yDrive": {
-            "lowerLimit": 0.0,
-            "upperLimit": 0.0,
-            "stiffness": 100000.0,
-            "damping": 9000.0,
-            "forceLimit": 3.40282347E+38,
-            "target": 0.0,
-            "targetVelocity": 0.0
-          },
-          "zDrive": {
-            "lowerLimit": 0.0,
-            "upperLimit": 0.0,
-            "stiffness": 100000.0,
-            "damping": 9000.0,
-            "forceLimit": 3.40282347E+38,
-            "target": 0.0,
-            "targetVelocity": 0.0
-          }
-        },
-        {
-          "artIndexQueue": [
-            0,
-            3,
-            3,
-            3
-          ],
-          "anchorPosition": [
-            0.0,
-            0.0,
-            0.0
-          ],
-          "anchorRotation": [
-            0.0,
-            0.0,
-            -0.7071068,
-            0.7071068
-          ],
-          "JointType": 2,
-          "linearLockX": 0,
-          "linearLockY": 0,
-          "linearLockZ": 0,
-          "swingYLock": 2,
-          "swingZLock": 2,
-          "twistLock": 2,
-          "xDrive": {
-            "lowerLimit": 0.0,
-            "upperLimit": 0.0,
-            "stiffness": 100000.0,
-            "damping": 9000.0,
-            "forceLimit": 3.40282347E+38,
-            "target": 0.0,
-            "targetVelocity": 0.0
-          },
-          "yDrive": {
-            "lowerLimit": 0.0,
-            "upperLimit": 0.0,
-            "stiffness": 100000.0,
-            "damping": 9000.0,
-            "forceLimit": 3.40282347E+38,
-            "target": 0.0,
-            "targetVelocity": 0.0
-          },
-          "zDrive": {
-            "lowerLimit": 0.0,
-            "upperLimit": 0.0,
-            "stiffness": 100000.0,
-            "damping": 9000.0,
-            "forceLimit": 3.40282347E+38,
-            "target": 0.0,
-            "targetVelocity": 0.0
-          }
-        },
-        {
-          "artIndexQueue": [
-            0,
-            3,
-            3,
-            3,
-            3
-          ],
-          "anchorPosition": [
-            0.0,
-            0.0,
-            0.0
-          ],
-          "anchorRotation": [
-            0.0,
-            0.0,
-            -0.7071068,
-            0.7071068
-          ],
-          "JointType": 2,
-          "linearLockX": 1,
-          "linearLockY": 0,
-          "linearLockZ": 0,
-          "swingYLock": 2,
-          "swingZLock": 2,
-          "twistLock": 1,
-          "xDrive": {
-            "lowerLimit": -152.406769,
-            "upperLimit": 152.406769,
-            "stiffness": 100000.0,
-            "damping": 9000.0,
-            "forceLimit": 3.40282347E+38,
-            "target": 0.0,
-            "targetVelocity": 0.0
-          },
-          "yDrive": {
-            "lowerLimit": 0.0,
-            "upperLimit": 0.0,
-            "stiffness": 100000.0,
-            "damping": 9000.0,
-            "forceLimit": 3.40282347E+38,
-            "target": 0.0,
-            "targetVelocity": 0.0
-          },
-          "zDrive": {
-            "lowerLimit": 0.0,
-            "upperLimit": 0.0,
-            "stiffness": 100000.0,
-            "damping": 9000.0,
-            "forceLimit": 3.40282347E+38,
-            "target": 0.0,
-            "targetVelocity": 0.0
-          }
-        },
-        {
-          "artIndexQueue": [
-            0,
-            3,
-            3,
-            3,
-            3,
-            3
-          ],
-          "anchorPosition": [
-            0.0,
-            0.0,
-            0.0
-          ],
-          "anchorRotation": [
-            0.0,
-            0.0,
-            -0.7071068,
-            0.7071068
-          ],
-          "JointType": 2,
-          "linearLockX": 0,
-          "linearLockY": 0,
-          "linearLockZ": 0,
-          "swingYLock": 2,
-          "swingZLock": 2,
-          "twistLock": 2,
-          "xDrive": {
-            "lowerLimit": 0.0,
-            "upperLimit": 0.0,
-            "stiffness": 100000.0,
-            "damping": 9000.0,
-            "forceLimit": 3.40282347E+38,
-            "target": 0.0,
-            "targetVelocity": 0.0
-          },
-          "yDrive": {
-            "lowerLimit": 0.0,
-            "upperLimit": 0.0,
-            "stiffness": 100000.0,
-            "damping": 9000.0,
-            "forceLimit": 3.40282347E+38,
-            "target": 0.0,
-            "targetVelocity": 0.0
-          },
-          "zDrive": {
-            "lowerLimit": 0.0,
-            "upperLimit": 0.0,
-            "stiffness": 100000.0,
-            "damping": 9000.0,
-            "forceLimit": 3.40282347E+38,
-            "target": 0.0,
-            "targetVelocity": 0.0
-          }
-        },
-        {
-          "artIndexQueue": [
-            0,
-            3,
-            3,
-            3,
-            3,
-            3,
-            3
-          ],
-          "anchorPosition": [
-            0.0,
-            0.0,
-            0.0
-          ],
-          "anchorRotation": [
-            0.0,
-            0.0,
-            -0.7071068,
-            0.7071068
-          ],
-          "JointType": 2,
-          "linearLockX": 1,
-          "linearLockY": 0,
-          "linearLockZ": 0,
-          "swingYLock": 2,
-          "swingZLock": 2,
-          "twistLock": 1,
-          "xDrive": {
-            "lowerLimit": -127.769592,
-            "upperLimit": 127.769592,
-            "stiffness": 100000.0,
-            "damping": 9000.0,
-            "forceLimit": 3.40282347E+38,
-            "target": 0.0,
-            "targetVelocity": 0.0
-          },
-          "yDrive": {
-            "lowerLimit": 0.0,
-            "upperLimit": 0.0,
-            "stiffness": 100000.0,
-            "damping": 9000.0,
-            "forceLimit": 3.40282347E+38,
-            "target": 0.0,
-            "targetVelocity": 0.0
-          },
-          "zDrive": {
-            "lowerLimit": 0.0,
-            "upperLimit": 0.0,
-            "stiffness": 100000.0,
-            "damping": 9000.0,
-            "forceLimit": 3.40282347E+38,
-            "target": 0.0,
-            "targetVelocity": 0.0
-          }
-        },
-        {
-          "artIndexQueue": [
-            0,
-            3,
-            3,
-            3,
-            3,
-            3,
-            3,
-            3
-          ],
-          "anchorPosition": [
-            0.0,
-            0.0,
-            0.0
-          ],
-          "anchorRotation": [
-            0.0,
-            0.0,
-            -0.7071068,
-            0.7071068
-          ],
-          "JointType": 2,
-          "linearLockX": 0,
-          "linearLockY": 0,
-          "linearLockZ": 0,
-          "swingYLock": 2,
-          "swingZLock": 2,
-          "twistLock": 2,
-          "xDrive": {
-            "lowerLimit": 0.0,
-            "upperLimit": 0.0,
-            "stiffness": 100000.0,
-            "damping": 9000.0,
-            "forceLimit": 3.40282347E+38,
-            "target": 0.0,
-            "targetVelocity": 0.0
-          },
-          "yDrive": {
-            "lowerLimit": 0.0,
-            "upperLimit": 0.0,
-            "stiffness": 100000.0,
-            "damping": 9000.0,
-            "forceLimit": 3.40282347E+38,
-            "target": 0.0,
-            "targetVelocity": 0.0
-          },
-          "zDrive": {
-            "lowerLimit": 0.0,
-            "upperLimit": 0.0,
-            "stiffness": 100000.0,
-            "damping": 9000.0,
-            "forceLimit": 3.40282347E+38,
-            "target": 0.0,
-            "targetVelocity": 0.0
-          }
-        },
-        {
-          "artIndexQueue": [
-            0,
-            3,
-            3,
-            3,
-            3,
-            3,
-            3,
-            3,
-            4
-          ],
-          "anchorPosition": [
-            0.0,
-            0.0,
-            0.0
-          ],
-          "anchorRotation": [
-            0.0,
-            0.0,
-            0.7071068,
-            0.7071068
-          ],
-          "JointType": 0,
-          "linearLockX": 2,
-          "linearLockY": 2,
-          "linearLockZ": 2,
-          "swingYLock": 2,
-          "swingZLock": 2,
-          "twistLock": 2,
-          "xDrive": {
-            "lowerLimit": 0.0,
-            "upperLimit": 0.0,
-            "stiffness": 100000.0,
-            "damping": 9000.0,
-            "forceLimit": 3.40282347E+38,
-            "target": 0.0,
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+      "$type": "RCareWorld.Attributes.ColliderAttrData, RCareWorld",
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@@ -986,7 +59,7 @@
       ],
       "render": true,
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+      "id": 1,
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       "parentName": "",
@@ -1007,7 +80,7 @@
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     {
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+      "$type": "RCareWorld.Attributes.ColliderAttrData, RCareWorld",
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@@ -1049,7 +122,7 @@
       ],
       "render": true,
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+      "id": 2,
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@@ -1070,7 +143,7 @@
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     {
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+      "$type": "RCareWorld.Attributes.ColliderAttrData, RCareWorld",
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@@ -1112,7 +185,7 @@
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       "render": true,
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+      "id": 3,
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@@ -1133,7 +206,7 @@
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@@ -1175,7 +248,7 @@
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       "render": true,
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@@ -1196,7 +269,7 @@
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@@ -1241,19 +314,19 @@
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diff --git a/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/StreamingAssets/aa/AddressablesLink/link.xml b/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/StreamingAssets/aa/AddressablesLink/link.xml
index fde7d6ea..337c6369 100644
--- a/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/StreamingAssets/aa/AddressablesLink/link.xml
+++ b/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/StreamingAssets/aa/AddressablesLink/link.xml
@@ -36,6 +36,7 @@
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     <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" />
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diff --git a/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/StreamingAssets/aa/StandaloneLinux64/bundle_assets_customattr_c1e815712fdda63cebccaef8bd1a2aaa.bundle b/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/StreamingAssets/aa/StandaloneLinux64/bundle_assets_customattr_c1e815712fdda63cebccaef8bd1a2aaa.bundle
new file mode 100644
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new file mode 100644
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new file mode 100644
index 00000000..3693abbe
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diff --git a/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.12.09.17.45.19.hash b/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.12.09.17.45.19.hash
new file mode 100644
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diff --git a/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.12.09.17.45.19.json b/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.12.09.17.45.19.json
new file mode 100644
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\ No newline at end of file
diff --git a/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/StreamingAssets/aa/catalog.json b/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/StreamingAssets/aa/catalog.json
index 3693abbe..99715495 100644
--- a/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/StreamingAssets/aa/catalog.json
+++ b/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/StreamingAssets/aa/catalog.json
@@ -1 +1 @@
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\ No newline at end of file
diff --git a/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/StreamingAssets/aa/settings.json b/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/StreamingAssets/aa/settings.json
index 87c3e517..08428e53 100644
--- a/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/StreamingAssets/aa/settings.json
+++ b/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/StreamingAssets/aa/settings.json
@@ -1 +1 @@
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\ No newline at end of file
+{"m_buildTarget":"StandaloneLinux64","m_SettingsHash":"b04d0142fcce75b7b277958083cd41a5","m_CatalogLocations":[{"m_Keys":["AddressablesMainContentCatalogRemoteHash"],"m_InternalId":"{UnityEngine.AddressableAssets.Addressables.RuntimePath}/StandaloneLinux64/catalog_2024.12.09.17.45.19.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_2024.12.09.17.45.19.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}
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diff --git a/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/boot.config b/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/boot.config
index dbf35c33..b9ca10fa 100644
--- a/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/boot.config
+++ b/pyrcareworld/pyrcareworld/demo/executable/Player/Player_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=4568b9cce0a044c781c3acbedb174871
+build-guid=71180d068c574bb78b2b9a14131e1784
diff --git a/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/globalgamemanagers b/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/globalgamemanagers
index 111c4b78..14ebf1d6 100644
Binary files a/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/globalgamemanagers and b/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/globalgamemanagers differ
diff --git a/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/globalgamemanagers.assets b/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/globalgamemanagers.assets
index 212c6643..b279624a 100644
Binary files a/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/globalgamemanagers.assets and b/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/globalgamemanagers.assets differ
diff --git a/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/resources.assets b/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/resources.assets
index 245d9b22..5645a22b 100644
Binary files a/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/resources.assets and b/pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/resources.assets differ
diff --git a/pyrcareworld/pyrcareworld/envs/base_env.py b/pyrcareworld/pyrcareworld/envs/base_env.py
index ba860959..ac442246 100755
--- a/pyrcareworld/pyrcareworld/envs/base_env.py
+++ b/pyrcareworld/pyrcareworld/envs/base_env.py
@@ -272,7 +272,7 @@ def Collect(self):
         """
         self._send_env_data("Collect")
 
-    def GetAttr(self, id: int):
+    def GetAttr(self, id: int) -> attr.BaseAttr:
         """
         Get the attribute instance by object ID.
 
@@ -533,7 +533,7 @@ def LoadURDF(self, path: str, id: int = None, native_ik: bool = False, axis: str
 
     def LoadMesh(self, path: str, id: int = None, collider_mode: str = "VHACD") -> attr.RigidbodyAttr:
         """
-        Load a model from a Mesh file.
+        Load a model from a Mesh file. Requires `libminizip1` to be installed.
 
         :param path: Str, the Mesh file path.
         :param id: Int, object id.
@@ -664,6 +664,7 @@ def ClearScene(self) -> None:
         Clear the current scene.
         """
         self._send_env_data("ClearScene")
+        self.attrs = {}
 
     def AlignCamera(self, camera_id: int) -> None:
         """
@@ -727,7 +728,7 @@ def SetViewBackGround(self, color: list = None) -> None:
 
     def LoadCloth(self, path: str, id: int = None) -> attr.ClothAttr:
         """
-        Load a mesh to Cloth.
+        Load a mesh to Cloth. Requires `libminizip1` to be installed.
 
         :param path: Str, the Mesh file path.
         :param id: Int, object id.
diff --git a/tests/test_base_env.py b/tests/test_base_env.py
new file mode 100644
index 00000000..2d4cc44f
--- /dev/null
+++ b/tests/test_base_env.py
@@ -0,0 +1,150 @@
+import pytest
+from pyrcareworld.envs.base_env import RCareWorld
+import pyrcareworld.attributes as attr
+from pyrcareworld.envs.bathing_env import BathingEnv
+from pyrcareworld.envs.dressing_env import DressingEnv
+
+import os
+import sys
+
+from pyrcareworld.demo import urdf_path
+from pyrcareworld.demo import executable_path
+from pyrcareworld.demo import mesh_path
+
+def test_save_and_load():
+  player_path = "pyrcareworld/pyrcareworld/demo/executable/Player/Player.x86_64"
+
+  env = RCareWorld(assets=["Collider_Box", "Rigidbody_Sphere"], executable_file=player_path, graphics=False)
+
+  box1 = env.InstanceObject(name="Collider_Box", attr_type=attr.ColliderAttr, id=1)
+  box1.SetTransform(position=[-0.5, 0.5, 0], scale=[0.1, 1, 1])
+  box2 = env.InstanceObject(name="Collider_Box", attr_type=attr.ColliderAttr, id=2)
+  box2.SetTransform(position=[0.5, 0.5, 0], scale=[0.1, 1, 1])
+  box3 = env.InstanceObject(name="Collider_Box", attr_type=attr.ColliderAttr, id=3)
+  box3.SetTransform(position=[0, 0.5, 0.5], scale=[1, 1, 0.1])
+  box4 = env.InstanceObject(name="Collider_Box", attr_type=attr.ColliderAttr, id=4)
+  box4.SetTransform(position=[0, 0.5, -0.5], scale=[1, 1, 0.1])
+  sphere = env.InstanceObject(name="Rigidbody_Sphere", attr_type=attr.RigidbodyAttr, id=5)
+  sphere.SetTransform(position=[0, 0.5, 0], scale=[0.5, 0.5, 0.5])
+
+  env.SaveScene("test_scene.json")
+
+  # Give some time to save...
+  for _ in range(10):
+    env.step()
+
+  assert env.GetAttr(1).data["name"] == "Collider_Box"
+  assert env.GetAttr(2).data["name"] == "Collider_Box"
+  assert env.GetAttr(3).data["name"] == "Collider_Box"
+  assert env.GetAttr(4).data["name"] == "Collider_Box"
+  assert env.GetAttr(5).data["name"] == "Rigidbody_Sphere"
+
+  assert os.path.exists("pyrcareworld/pyrcareworld/demo/executable/Player/Player_Data/StreamingAssets/SceneData/test_scene.json")
+
+  env.ClearScene()
+
+  with pytest.raises(AssertionError):
+    env.GetAttr(1)
+
+  with pytest.raises(AssertionError):
+    env.GetAttr(2)
+
+  with pytest.raises(AssertionError):
+    env.GetAttr(3)
+
+  with pytest.raises(AssertionError):
+    env.GetAttr(4)
+
+  with pytest.raises(AssertionError):
+    env.GetAttr(5)
+
+  env.LoadSceneAsync("test_scene.json")
+
+  # Give some time to load...
+  for _ in range(10):
+    env.step()
+
+  assert env.GetAttr(1).data["name"] == "Collider_Box"
+  assert env.GetAttr(2).data["name"] == "Collider_Box"
+  assert env.GetAttr(3).data["name"] == "Collider_Box"
+  assert env.GetAttr(4).data["name"] == "Collider_Box"
+  assert env.GetAttr(5).data["name"] == "Rigidbody_Sphere"
+
+  env.close()
+
+def test_object_listener():
+  env = RCareWorld(assets=["CustomAttr"], executable_file="pyrcareworld/pyrcareworld/demo/executable/Player/Player.x86_64", graphics=False)
+
+  called = False
+
+  custom = env.InstanceObject(name="CustomAttr", id=1, attr_type=attr.CustomAttr)
+
+  def object_listener(args):
+      nonlocal called
+      called = True
+      dict = {}
+      for i, arg in enumerate(args):
+          dict[i] = arg
+          print(i, arg, type(arg))
+
+      assert dict[0] == "string:"
+      assert dict[1] == "This is dynamic object"
+      assert dict[2] == "int:"
+      assert dict[3] == 123
+      assert dict[4] == "float:"
+      assert dict[5] == float(456.0)
+      assert dict[6] == "bool:"
+      assert dict[7] == False
+      assert dict[8] == "list:"
+      assert str(dict[9]) == "[7.889999866485596, 1.1100000143051147]"
+      assert dict[10] == "dict:"
+      assert str(dict[11]) == "{'a': 1, 'b': 2}"
+      assert dict[12] == "tuple:"
+      assert str(dict[13]) == "('a', 1, 0.5619999766349792)"
+  
+  env.AddListenerObject("DynamicObject", object_listener)
+
+  env.SendObject(
+      "DynamicObject",
+      "string:", "this is dynamic object",
+      "int:", 1,
+      "bool:", True,
+      "float:", 4849.6564,
+      "list:", [616445.085, 9489984.0, 65419596.0, 9849849.0],
+      "dict:", {"1": 1, "2": 2, "3": 3},
+      "tuple:", ("1", 1, 0.562)
+  )
+
+  # Get data back...
+  env.step(10)
+  assert called
+
+  env.close()
+
+def test_load_objects():
+  env = RCareWorld(executable_file="pyrcareworld/pyrcareworld/demo/executable/Player/Player.x86_64", graphics=False, log_level=1)
+
+  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()
+
+
+# TODO: Test more functions of the environment
diff --git a/tests/test_bathing_env.py b/tests/test_bathing_env.py
index fad5891c..4edc7cbf 100644
--- a/tests/test_bathing_env.py
+++ b/tests/test_bathing_env.py
@@ -16,7 +16,7 @@
 def _bathing_env_fixture():
     """Create a BathingEnv once and share it across tests."""
     # NOTE: set graphics = True here to debug.
-    env = BathingEnv(graphics=False, log_level=1)    
+    env = BathingEnv(graphics=False)    
     yield env
     env.close()