How to set the random seed for curobo?

[TooSchoolForCool]

How can I set the random seed for curobo?

I have try following global setting method

seed = 123
torch.manual_seed(seed)
np.random.seed(seed)
random.seed(seed)

But none of them actually work.

Every time I run follow script, it always give me same results.

ik_solver = IKSolver(xxx)

q_samples = ik_solver.sample_configs(10)

q_samples are always the same each time I run this script.

[balakumar-s]

It's hard coded here:

curobo/src/curobo/wrap/reacher/ik_solver.py

Line 337 in b481ee2

seed=1531,

We can expose it as a parameter in the next release.

[TooSchoolForCool]

Thank you so much!

I will expose it at my side first :).

[TooSchoolForCool]

Hi Balakumar,

I discovered that changing the random seed does not affect the behavior of the self.sample_configs() function because it samples joint configurations from self.rollout_fn.sample_random_actions instead of self.q_sample_gen.

I've submitted a pull request that exposes random_seed and updates the sample_configs method for your reference.

[balakumar-s]

Thanks, this has been added:

curobo/src/curobo/wrap/reacher/ik_solver.py

Line 98 in 774dcfd

seed: int = 1531,