tangger/lerobot
1
0
Fork 1
Code Issues Pull Requests Actions 1 Packages Projects Releases Wiki Activity

fix environment seeding

Browse Source
This commit is contained in:
Alexander Soare
2024-03-22 13:25:23 +00:00
parent b633748987
commit b9047fbdd2
3 changed files with 16 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
lerobot/common/envs/aloha/env.py
View File

@@ -126,9 +126,8 @@ class AlohaEnv(AbstractEnv):
logging.warning(f"{self.__class__.__name__}._reset ignores the provided tensordict.")
AlohaEnv._reset_warning_issued = True
# we need to handle seed iteration, since self._env.reset() rely an internal _seed.
self._current_seed += 1
self.set_seed(self._current_seed)
# Seed the environment and update the seed to be used for the next reset.
self._next_seed = self.set_seed(self._next_seed)
# TODO(rcadene): do not use global variable for this
if "sim_transfer_cube" in self.task:
@@ -137,8 +136,6 @@ class AlohaEnv(AbstractEnv):
BOX_POSE[0] = np.concatenate(sample_insertion_pose()) # used in sim reset
raw_obs = self._env.reset()
# TODO(rcadene): add assert
# assert self._current_seed == self._env._seed
obs = self._format_raw_obs(raw_obs.observation)