Repository: empriselab/RCareWorld (language: python)

Issue:
Fixed random seed in Bathing Env for development purposes
## Description:

Users have requested a way to fix the random seed of the human body upon initialization for development purposes. 

Presumably, scoring would be disabled whenever this option is enabled.


Discussion / hints:
Implementing. Here's proof of concept:

Run 1:

![image](https://github.com/user-attachments/assets/f8c94c5a-0aed-42d9-90fc-a0df71dfce4c)

Run 2:

![image](https://github.com/user-attachments/assets/96fe1410-9555-4277-8997-6f1b5485c4af)

Run 3:

![image](https://github.com/user-attachments/assets/dcfe485d-be2e-4f9a-9f0f-6df8baa20fe8)


Fix patch:
diff --git a/pyrcareworld/pyrcareworld/attributes/__init__.py b/pyrcareworld/pyrcareworld/attributes/__init__.py
index 7a4e16e7..9d2ba5a2 100755
--- a/pyrcareworld/pyrcareworld/attributes/__init__.py
+++ b/pyrcareworld/pyrcareworld/attributes/__init__.py
@@ -4,6 +4,7 @@
 from pyrcareworld.attributes.light_attr import LightAttr
 from pyrcareworld.attributes.collider_attr import ColliderAttr
 from pyrcareworld.attributes.controller_attr import ControllerAttr
+from pyrcareworld.attributes.person_randomizer_attr import PersonRandomizerAttr
 from pyrcareworld.attributes.rigidbody_attr import RigidbodyAttr
 from pyrcareworld.attributes.cloth_attr import ClothAttr
 from pyrcareworld.attributes.pointcloud_attr import PointCloudAttr
@@ -48,5 +49,6 @@
 "BathingScoreAttr": BathingScoreAttr,
 "DressingScoreAttr": DressingScoreAttr,
 "SpongeAttr": SpongeAttr,
+"PersonRandomizerAttr": PersonRandomizerAttr,
 # "OMPLManagerAttr": OMPLManagerAttr
 }
diff --git a/pyrcareworld/pyrcareworld/attributes/person_randomizer_attr.py b/pyrcareworld/pyrcareworld/attributes/person_randomizer_attr.py
new file mode 100644
index 00000000..836ebb95
--- /dev/null
+++ b/pyrcareworld/pyrcareworld/attributes/person_randomizer_attr.py
@@ -0,0 +1,16 @@
+
+import pyrcareworld.attributes as attr
+
+
+class PersonRandomizerAttr(attr.BaseAttr):
+    """
+    Person Randomizer attribute class.
+    """
+    def SetSeed(self, seed: int):
+        """
+        Set the random seed.
+
+        Args:
+            seed: Int, random seed.
+        """
+        self._send_data("SetSeed", seed)
diff --git a/pyrcareworld/pyrcareworld/envs/base_env.py b/pyrcareworld/pyrcareworld/envs/base_env.py
index 94a6b02d..1d031034 100755
--- a/pyrcareworld/pyrcareworld/envs/base_env.py
+++ b/pyrcareworld/pyrcareworld/envs/base_env.py
@@ -154,7 +154,7 @@ def _parse_instance_data(self, objs: list) -> None:
         try:
             attr_type = attr.attrs[this_object_type]
         except Exception as e:
-            print(f"An error occurred: {e}")
+            print(f"An error occurred with attribute recognition: {e}")
             return
 
         if this_object_id not in self.attrs:
diff --git a/pyrcareworld/pyrcareworld/envs/bathing_env.py b/pyrcareworld/pyrcareworld/envs/bathing_env.py
index a3e912e7..1c173c34 100644
--- a/pyrcareworld/pyrcareworld/envs/bathing_env.py
+++ b/pyrcareworld/pyrcareworld/envs/bathing_env.py
@@ -2,6 +2,7 @@
 
 from pyrcareworld.attributes.camera_attr import CameraAttr
 from pyrcareworld.attributes.controller_attr import ControllerAttr
+from pyrcareworld.attributes.person_randomizer_attr import PersonRandomizerAttr
 from pyrcareworld.attributes.sponge_attr import SpongeAttr
 from pyrcareworld.envs.base_env import RCareWorld
 from pathlib import Path
@@ -22,10 +23,14 @@ class BathingEnv(RCareWorld):
     _bed_id: int = 758554
     _drawer_id: int = 758666
     _person_id: int = 573920
+    _randomizer_id: int = 777
 
-    def __init__(self, executable_file=str(_DEFAULT_EXECUTABLE_PATH), *args, **kwargs):
+    def __init__(self, executable_file=str(_DEFAULT_EXECUTABLE_PATH), seed=None,*args, **kwargs):
         super().__init__(executable_file=executable_file, *args, **kwargs)
 
+        if seed is not None:
+            self.get_person_randomizer().SetSeed(seed)
+
     def get_robot(self) -> ControllerAttr:
         """Access the robot."""
         return self.GetAttr(self._robot_id)
@@ -41,3 +46,7 @@ def get_camera(self) -> CameraAttr:
     def get_sponge(self) -> SpongeAttr:
         """Access the sponge."""
         return self.GetAttr(self._sponge_id)
+    
+    def get_person_randomizer(self) -> PersonRandomizerAttr:
+        """Set the random seed."""
+        return self.GetAttr(self._randomizer_id)
diff --git a/pyrcareworld/requirements.txt b/pyrcareworld/requirements.txt
index 52be61d4..a769ccb9 100755
--- a/pyrcareworld/requirements.txt
+++ b/pyrcareworld/requirements.txt
@@ -4,6 +4,7 @@ requests
 open3d
 pandas
 pytest>=7.2.2
+pytest-repeat
 
 # gym==0.21.0
 # cloudpickle
@@ -13,4 +14,4 @@ pytest>=7.2.2
 # pyyaml>=3.1.0
 # pybullet
 
-# stable-baselines3
\ No newline at end of file
+# stable-baselines3
diff --git a/rgb_hand.png b/rgb_hand.png
index 66463392..b7b8a0a5 100644
Binary files a/rgb_hand.png and b/rgb_hand.png differ
diff --git a/template/Bathing/BathingPlayer_Data/Managed/Assembly-CSharp.dll b/template/Bathing/BathingPlayer_Data/Managed/Assembly-CSharp.dll
index 653f368f..17bac83b 100644
Binary files a/template/Bathing/BathingPlayer_Data/Managed/Assembly-CSharp.dll and b/template/Bathing/BathingPlayer_Data/Managed/Assembly-CSharp.dll differ
diff --git a/template/Bathing/BathingPlayer_Data/Managed/RCareWorld.dll b/template/Bathing/BathingPlayer_Data/Managed/RCareWorld.dll
index 85a131f8..e416cf6a 100644
Binary files a/template/Bathing/BathingPlayer_Data/Managed/RCareWorld.dll and b/template/Bathing/BathingPlayer_Data/Managed/RCareWorld.dll differ
diff --git a/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.10.21.16.00.43.hash b/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.10.21.16.00.43.hash
new file mode 100644
index 00000000..64fa56e8
--- /dev/null
+++ b/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.10.21.16.00.43.hash
@@ -0,0 +1,1 @@
+beb4cb7e3c57ab720491a5b9520c6161
\ No newline at end of file
diff --git a/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.10.21.16.00.43.json b/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.10.21.16.00.43.json
new file mode 100644
index 00000000..3bb8612c
--- /dev/null
+++ b/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.10.21.16.00.43.json
@@ -0,0 +1,1 @@
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diff --git a/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.10.21.16.55.39.hash b/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.10.21.16.55.39.hash
new file mode 100644
index 00000000..64fa56e8
--- /dev/null
+++ b/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.10.21.16.55.39.hash
@@ -0,0 +1,1 @@
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\ No newline at end of file
diff --git a/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.10.21.16.55.39.json b/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/StandaloneLinux64/catalog_2024.10.21.16.55.39.json
new file mode 100644
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\ No newline at end of file
diff --git a/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/settings.json b/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/settings.json
index a649cbbc..e112f227 100644
--- a/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/settings.json
+++ b/template/Bathing/BathingPlayer_Data/StreamingAssets/aa/settings.json
@@ -1,1 +1,1 @@
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diff --git a/template/Bathing/BathingPlayer_Data/boot.config b/template/Bathing/BathingPlayer_Data/boot.config
index 79087821..225dc9fe 100644
--- a/template/Bathing/BathingPlayer_Data/boot.config
+++ b/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=b2bf5ce0410d4363b7508c898c007840
+build-guid=4baa3a5f29c44b86bcc2b0061c99f25c
diff --git a/template/Bathing/BathingPlayer_Data/globalgamemanagers b/template/Bathing/BathingPlayer_Data/globalgamemanagers
index cb476367..8b6bc64a 100644
Binary files a/template/Bathing/BathingPlayer_Data/globalgamemanagers and b/template/Bathing/BathingPlayer_Data/globalgamemanagers differ
diff --git a/template/Bathing/BathingPlayer_Data/globalgamemanagers.assets b/template/Bathing/BathingPlayer_Data/globalgamemanagers.assets
index 91e73660..b279624a 100644
Binary files a/template/Bathing/BathingPlayer_Data/globalgamemanagers.assets and b/template/Bathing/BathingPlayer_Data/globalgamemanagers.assets differ
diff --git a/template/Bathing/BathingPlayer_Data/level0 b/template/Bathing/BathingPlayer_Data/level0
index 917436fa..a93c0613 100644
Binary files a/template/Bathing/BathingPlayer_Data/level0 and b/template/Bathing/BathingPlayer_Data/level0 differ
diff --git a/template/Bathing/BathingPlayer_Data/resources.assets b/template/Bathing/BathingPlayer_Data/resources.assets
index fc804281..f24faa6c 100644
Binary files a/template/Bathing/BathingPlayer_Data/resources.assets and b/template/Bathing/BathingPlayer_Data/resources.assets differ


Test patch:
diff --git a/tests/test_bathing_env.py b/tests/test_bathing_env.py
index a5c87250..5ceaabbb 100644
--- a/tests/test_bathing_env.py
+++ b/tests/test_bathing_env.py
@@ -101,3 +101,14 @@ def test_bathing_collision(bathing_env: BathingEnv):
     bathing_env.GetCurrentCollisionPairs()
     bathing_env.step()
     assert len(bathing_env.data["collision_pairs"]) == 0
+
+@pytest.mark.repeat(3)
+def test_seed():
+    """Test for the seed."""
+
+    env = BathingEnv(graphics=False, seed=100)    
+
+    env.step(300)
+
+    personCollider = env.GetAttr(env._person_id)
+    assert np.allclose(personCollider.data['position'], [-0.703722656,1.19400001,-0.026099354], atol=1e-4)