[BugFix] fix bug where torch rng was never changed after each reset

haosulab · Oct 29, 2024 · c7dc70b · c7dc70b
1 parent c2f3036
commit c7dc70b
Showing 1 changed file with 6 additions and 2 deletions.
diff --git a/mani_skill/envs/sapien_env.py b/mani_skill/envs/sapien_env.py
@@ -837,8 +837,12 @@ def reset(self, seed: Union[None, int, list[int]] = None, options: Union[None, d
 
         if self.agent is not None:
             self.agent.reset()
-        with torch.random.fork_rng():
-            torch.manual_seed(self._episode_seed[0])
+
+        if seed is not None or self._enhanced_determinism:
+            with torch.random.fork_rng():
+                torch.manual_seed(self._episode_seed[0])
+                self._initialize_episode(env_idx, options)
+        else:
             self._initialize_episode(env_idx, options)
         # reset the reset mask back to all ones so any internal code in maniskill can continue to manipulate all scenes at once as usual
         self.scene._reset_mask = torch.ones(