Adds setting of environment seed at initialization #940
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Mayankm96
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source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py
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Here are the results: Isaac-Velocity-Flat-Anymal-D-v0
Isaac-Velocity-Rough-Anymal-D-v0
Isaac-Velocity-Flat-G1-v0
Isaac-Velocity-Rough-G1-v0
Isaac-Cartpole-v0
Isaac-Lift-Cube-Franka-v0
Isaac-Open-Drawer-Franka-v0
Isaac-Repose-Cube-Allegro-v0
Isaac-Repose-Cube-Allegro-Direct-v0
Isaac-Repose-Cube-Shadow-Direct-v0
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Dhoeller19
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Mayankm96
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Sep 9, 2024
source/extensions/omni.isaac.lab_tasks/test/test_environment_determinism.py
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source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py
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source/extensions/omni.isaac.lab/test/terrains/test_terrain_generator.py
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Mayankm96
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Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
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Nov 21, 2024
# Description Various randomization and procedural generation operations happen at initialization. However, as noted in one of the issues, the seed setting happens after all these operations are performed. This means that the creation of the environment is not completely deterministic. This MR resolves this issue by adding a `seed` configuration to the environment. Fixes isaac-sim#904 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshots The before and after results over **three runs** with the default seed (seed: 42) ```bash ./isaaclab.sh -p source/standalone/workflows/rsl_rl/train.py --task Isaac-Velocity-Rough-Anymal-C-v0 --headless --run_name seed ``` | Results over three runs | | ------ | | Before (main at 788a061)  | | Now (this MR)  | ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
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Description
Various randomization and procedural generation operations happen at initialization. However, as noted in one of the issues, the seed setting happens after all these operations are performed. This means that the creation of the environment is not completely deterministic. This MR resolves this issue by adding a
seedconfiguration to the environment.Fixes #904
Type of change
Screenshots
The before and after results over three runs with the default seed (seed: 42)
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there