Renamed set_seed -> set_global_seed

lerobot/common/envs/abstract.py

@@ -4,7 +4,7 @@ from typing import Optional
 from tensordict import TensorDict
 from torchrl.envs import EnvBase
 
-from lerobot.common.utils import set_seed
+from lerobot.common.utils import set_global_seed
 
 
 class AbstractEnv(EnvBase):
@@ -67,4 +67,4 @@ class AbstractEnv(EnvBase):
         raise NotImplementedError("Abstract method")
 
     def _set_seed(self, seed: Optional[int]):
-        set_seed(seed)
+        set_global_seed(seed)

lerobot/common/envs/aloha/env.py

@@ -29,7 +29,7 @@ from lerobot.common.envs.aloha.tasks.sim_end_effector import (
     TransferCubeEndEffectorTask,
 )
 from lerobot.common.envs.aloha.utils import sample_box_pose, sample_insertion_pose
-from lerobot.common.utils import set_seed
+from lerobot.common.utils import set_global_seed
 
 _has_gym = importlib.util.find_spec("gymnasium") is not None
 
@@ -290,7 +290,7 @@ class AlohaEnv(AbstractEnv):
         )
 
     def _set_seed(self, seed: Optional[int]):
-        set_seed(seed)
+        set_global_seed(seed)
         # TODO(rcadene): seed the env
         # self._env.seed(seed)
         logging.warning("Aloha env is not seeded")

lerobot/common/envs/pusht/env.py

@@ -16,7 +16,7 @@ from torchrl.data.tensor_specs import (
 from torchrl.envs.libs.gym import _gym_to_torchrl_spec_transform
 
 from lerobot.common.envs.abstract import AbstractEnv
-from lerobot.common.utils import set_seed
+from lerobot.common.utils import set_global_seed
 
 _has_gym = importlib.util.find_spec("gymnasium") is not None
 
@@ -238,6 +238,6 @@ class PushtEnv(AbstractEnv):
 
     def _set_seed(self, seed: Optional[int]):
         # Set global seed.
-        set_seed(seed)
+        set_global_seed(seed)
         # Set PushTImageEnv seed as it relies on it's own internal _seed attribute.
         self._env.seed(seed)

lerobot/common/envs/simxarm/env.py

@@ -1,4 +1,5 @@
 import importlib
+import logging
 from collections import deque
 from typing import Optional
 
@@ -15,7 +16,7 @@ from torchrl.data.tensor_specs import (
 from torchrl.envs.libs.gym import _gym_to_torchrl_spec_transform
 
 from lerobot.common.envs.abstract import AbstractEnv
-from lerobot.common.utils import set_seed
+from lerobot.common.utils import set_global_seed
 
 MAX_NUM_ACTIONS = 4
 
@@ -229,8 +230,9 @@ class SimxarmEnv(AbstractEnv):
         )
 
     def _set_seed(self, seed: Optional[int]):
-        set_seed(seed)
+        set_global_seed(seed)
         # self._env.seed(seed)
         # self._env.action_space.seed(seed)
         # self.set_seed(seed)
+        logging.warning("simxarm env is not seeded")
         self._seed = seed

lerobot/common/utils.py

@@ -26,7 +26,7 @@ def get_safe_torch_device(cfg_device: str, log: bool = False) -> torch.device:
     return device
 
 
-def set_seed(seed):
+def set_global_seed(seed):
     """Set seed for reproducibility."""
     random.seed(seed)
     np.random.seed(seed)

lerobot/scripts/eval.py

@@ -50,7 +50,7 @@ from lerobot.common.envs.factory import make_env
 from lerobot.common.logger import log_output_dir
 from lerobot.common.policies.abstract import AbstractPolicy
 from lerobot.common.policies.factory import make_policy
-from lerobot.common.utils import get_safe_torch_device, init_logging, set_seed
+from lerobot.common.utils import get_safe_torch_device, init_logging, set_global_seed
 
 
 def write_video(video_path, stacked_frames, fps):
@@ -188,7 +188,7 @@ def eval(cfg: dict, out_dir=None, stats_path=None):
 
     torch.backends.cudnn.benchmark = True
     torch.backends.cuda.matmul.allow_tf32 = True
-    set_seed(cfg.seed)
+    set_global_seed(cfg.seed)
 
     log_output_dir(out_dir)
 

lerobot/scripts/train.py

@@ -12,7 +12,7 @@ from lerobot.common.datasets.factory import make_offline_buffer
 from lerobot.common.envs.factory import make_env
 from lerobot.common.logger import Logger, log_output_dir
 from lerobot.common.policies.factory import make_policy
-from lerobot.common.utils import format_big_number, get_safe_torch_device, init_logging, set_seed
+from lerobot.common.utils import format_big_number, get_safe_torch_device, init_logging, set_global_seed
 from lerobot.scripts.eval import eval_policy
 
 
@@ -122,7 +122,7 @@ def train(cfg: dict, out_dir=None, job_name=None):
 
     torch.backends.cudnn.benchmark = True
     torch.backends.cuda.matmul.allow_tf32 = True
-    set_seed(cfg.seed)
+    set_global_seed(cfg.seed)
 
     logging.info("make_offline_buffer")
     offline_buffer = make_offline_buffer(cfg)

tests/test_datasets.py

@@ -9,7 +9,6 @@ from .utils import DEVICE, init_config
 @pytest.mark.parametrize(
     "env_name,dataset_id",
     [
-        # TODO(rcadene): simxarm is depreciated for now
         ("simxarm", "lift"),
         ("pusht", "pusht"),
         ("aloha", "sim_insertion_human"),

tests/test_envs.py

@@ -39,14 +39,13 @@ def print_spec_rollout(env):
     print("data from rollout:", simple_rollout(100))
 
 
-# @pytest.mark.skip(reason="Simxarm is deprecated")
 @pytest.mark.parametrize(
     "task,from_pixels,pixels_only",
     [
         ("lift", False, False),
         ("lift", True, False),
         ("lift", True, True),
-        # TODO(aliberts): Add simxarm other task or remove them completely from repo
+        # TODO(aliberts): Add simxarm other tasks
         # ("reach", False, False),
         # ("reach", True, False),
         # ("push", False, False),