Replaces torch_utils set_seed method with IsaacLab implementation

Author: ooctipus

source/isaaclab/isaaclab/envs/direct_rl_env.py

@@ -17,7 +17,6 @@
 from dataclasses import MISSING
 from typing import Any, ClassVar
 
-import isaacsim.core.utils.torch as torch_utils
 import omni.kit.app
 import omni.log
 import omni.physx
@@ -29,6 +28,7 @@
 from isaaclab.sim import SimulationContext
 from isaaclab.sim.utils import attach_stage_to_usd_context, use_stage
 from isaaclab.utils.noise import NoiseModel
+from isaaclab.utils.seed import configure_seed
 from isaaclab.utils.timer import Timer
 
 from .common import VecEnvObs, VecEnvStepReturn
@@ -417,7 +417,7 @@ def seed(seed: int = -1) -> int:
         except ModuleNotFoundError:
             pass
         # set seed for torch and other libraries
-        return torch_utils.set_seed(seed)
+        return configure_seed(seed)
 
     def render(self, recompute: bool = False) -> np.ndarray | None:
         """Run rendering without stepping through the physics.

source/isaaclab/isaaclab/envs/manager_based_env.py

@@ -8,7 +8,6 @@
 from collections.abc import Sequence
 from typing import Any
 
-import isaacsim.core.utils.torch as torch_utils
 import omni.log
 import omni.physx
 from isaacsim.core.simulation_manager import SimulationManager
@@ -19,6 +18,7 @@
 from isaaclab.sim import SimulationContext
 from isaaclab.sim.utils import attach_stage_to_usd_context, use_stage
 from isaaclab.ui.widgets import ManagerLiveVisualizer
+from isaaclab.utils.seed import configure_seed
 from isaaclab.utils.timer import Timer
 
 from .common import VecEnvObs
@@ -447,7 +447,7 @@ def seed(seed: int = -1) -> int:
         except ModuleNotFoundError:
             pass
         # set seed for torch and other libraries
-        return torch_utils.set_seed(seed)
+        return configure_seed(seed)
 
     def close(self):
         """Cleanup for the environment."""

source/isaaclab/isaaclab/utils/seed.py

@@ -0,0 +1,43 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+import numpy as np
+import os
+import random
+import torch
+
+import warp as wp
+
+
+def configure_seed(seed: int | None, torch_deterministic: bool = False) -> int:
+    """Set seed across all random number generators (torch, numpy, random, warp).
+    Args:
+        seed: The random seed value. If None, generates a random seed.
+        torch_deterministic: If True, enables deterministic mode for torch operations.
+    Returns:
+        The seed value that was set.
+    """
+    if seed is None or seed == -1:
+        seed = 42 if torch_deterministic else random.randint(0, 10000)
+
+    random.seed(seed)
+    np.random.seed(seed)
+    torch.manual_seed(seed)
+    os.environ["PYTHONHASHSEED"] = str(seed)
+    torch.cuda.manual_seed(seed)
+    torch.cuda.manual_seed_all(seed)
+    wp.rand_init(seed)
+
+    if torch_deterministic:
+        # refer to https://docs.nvidia.com/cuda/cublas/index.html#cublasApi_reproducibility
+        os.environ["CUBLAS_WORKSPACE_CONFIG"] = ":4096:8"
+        torch.backends.cudnn.benchmark = False
+        torch.backends.cudnn.deterministic = True
+        torch.use_deterministic_algorithms(True)
+    else:
+        torch.backends.cudnn.benchmark = True
+        torch.backends.cudnn.deterministic = False
+
+    return seed

source/isaaclab/test/terrains/test_terrain_generator.py

@@ -17,11 +17,11 @@
 import shutil
 import torch
 
-import isaacsim.core.utils.torch as torch_utils
 import pytest
 
 from isaaclab.terrains import FlatPatchSamplingCfg, TerrainGenerator, TerrainGeneratorCfg
 from isaaclab.terrains.config.rough import ROUGH_TERRAINS_CFG
+from isaaclab.utils.seed import configure_seed
 
 
 @pytest.fixture
@@ -65,7 +65,7 @@ def test_generation_reproducibility(use_global_seed, seed):
     Setting only locally is not tested as it is not supported.
     """
     # set initial seed
-    torch_utils.set_seed(seed)
+    configure_seed(seed)
 
     # create terrain generator
     cfg = ROUGH_TERRAINS_CFG
@@ -77,7 +77,7 @@ def test_generation_reproducibility(use_global_seed, seed):
     terrain_mesh_1 = terrain_generator.terrain_mesh.copy()
 
     # set seed again
-    torch_utils.set_seed(seed)
+    configure_seed(seed)
 
     # create terrain generator
     terrain_generator = TerrainGenerator(cfg=cfg)
@@ -116,7 +116,7 @@ def test_generation_cache(output_dir, curriculum):
 
     # set a random seed to disturb the process
     # this is to ensure that the seed inside the terrain generator makes deterministic results
-    torch_utils.set_seed(12456)
+    configure_seed(12456)
 
     # create terrain generator with cache enabled
     terrain_generator = TerrainGenerator(cfg=cfg)