Merge pull request #724 from ARISE-Initiative/env_seeding

Env seeding

Author: Abhiram824

robosuite/environments/manipulation/door.py

@@ -170,6 +170,7 @@ def __init__(
         camera_segmentations=None,  # {None, instance, class, element}
         renderer="mjviewer",
         renderer_config=None,
+        seed=None,
     ):
         # settings for table top (hardcoded since it's not an essential part of the environment)
         self.table_full_size = (0.8, 0.3, 0.05)
@@ -212,6 +213,7 @@ def __init__(
             camera_segmentations=camera_segmentations,
             renderer=renderer,
             renderer_config=renderer_config,
+            seed=seed,
         )
 
     def reward(self, action=None):
@@ -312,6 +314,7 @@ def _load_model(self):
                 ensure_object_boundary_in_range=False,
                 ensure_valid_placement=True,
                 reference_pos=self.table_offset,
+                rng=self.rng,
             )
 
         # task includes arena, robot, and objects of interest

robosuite/environments/manipulation/lift.py

@@ -175,6 +175,7 @@ def __init__(
         camera_segmentations=None,  # {None, instance, class, element}
         renderer="mjviewer",
         renderer_config=None,
+        seed=None,
     ):
         # settings for table top
         self.table_full_size = table_full_size
@@ -217,6 +218,7 @@ def __init__(
             camera_segmentations=camera_segmentations,
             renderer=renderer,
             renderer_config=renderer_config,
+            seed=seed,
         )
 
     def reward(self, action=None):
@@ -312,6 +314,7 @@ def _load_model(self):
             size_max=[0.022, 0.022, 0.022],  # [0.018, 0.018, 0.018])
             rgba=[1, 0, 0, 1],
             material=redwood,
+            rng=self.rng,
         )
 
         # Create placement initializer
@@ -329,6 +332,7 @@ def _load_model(self):
                 ensure_valid_placement=True,
                 reference_pos=self.table_offset,
                 z_offset=0.01,
+                rng=self.rng,
             )
 
         # task includes arena, robot, and objects of interest

robosuite/environments/manipulation/nut_assembly.py

@@ -189,6 +189,7 @@ def __init__(
         camera_segmentations=None,  # {None, instance, class, element}
         renderer="mjviewer",
         renderer_config=None,
+        seed=None,
     ):
         # task settings
         self.single_object_mode = single_object_mode
@@ -242,6 +243,7 @@ def __init__(
             camera_segmentations=camera_segmentations,
             renderer=renderer,
             renderer_config=renderer_config,
+            seed=seed,
         )
 
     def reward(self, action=None):
@@ -424,6 +426,7 @@ def _load_model(self):
                         ensure_valid_placement=True,
                         reference_pos=self.table_offset,
                         z_offset=0.02,
+                        rng=self.rng,
                     )
                 )
         # Reset sampler before adding any new samplers / objects
@@ -597,7 +600,7 @@ def _reset_internal(self):
         # Move objects out of the scene depending on the mode
         nut_names = {nut.name for nut in self.nuts}
         if self.single_object_mode == 1:
-            self.obj_to_use = random.choice(list(nut_names))
+            self.obj_to_use = self.rng.choice(list(nut_names))
             for nut_type, i in self.nut_to_id.items():
                 if nut_type.lower() in self.obj_to_use.lower():
                     self.nut_id = i

robosuite/environments/manipulation/pick_place.py

@@ -211,6 +211,7 @@ def __init__(
         camera_segmentations=None,  # {None, instance, class, element}
         renderer="mjviewer",
         renderer_config=None,
+        seed=None,
     ):
         # task settings
         self.single_object_mode = single_object_mode
@@ -267,6 +268,7 @@ def __init__(
             camera_segmentations=camera_segmentations,
             renderer=renderer,
             renderer_config=renderer_config,
+            seed=seed,
         )
 
     def reward(self, action=None):
@@ -446,6 +448,7 @@ def _get_placement_initializer(self):
                 ensure_valid_placement=True,
                 reference_pos=self.bin1_pos,
                 z_offset=self.z_offset,
+                rng=self.rng,
             )
         )
 
@@ -484,6 +487,7 @@ def _get_placement_initializer(self):
                     ensure_valid_placement=False,
                     reference_pos=self.bin1_pos,
                     z_offset=self.bin2_pos[2] - self.bin1_pos[2],
+                    rng=self.rng,
                 )
             )
             index += 1
@@ -711,7 +715,7 @@ def _reset_internal(self):
         # Move objects out of the scene depending on the mode
         obj_names = {obj.name for obj in self.objects}
         if self.single_object_mode == 1:
-            self.obj_to_use = random.choice(list(obj_names))
+            self.obj_to_use = self.rng.choice(list(obj_names))
             for obj_type, i in self.object_to_id.items():
                 if obj_type.lower() in self.obj_to_use.lower():
                     self.object_id = i

robosuite/environments/manipulation/stack.py

@@ -175,6 +175,7 @@ def __init__(
         camera_segmentations=None,  # {None, instance, class, element}
         renderer="mjviewer",
         renderer_config=None,
+        seed=None,
     ):
         # settings for table top
         self.table_full_size = table_full_size
@@ -217,6 +218,7 @@ def __init__(
             camera_segmentations=camera_segmentations,
             renderer=renderer,
             renderer_config=renderer_config,
+            seed=seed,
         )
 
     def reward(self, action):
@@ -382,6 +384,7 @@ def _load_model(self):
                 ensure_valid_placement=True,
                 reference_pos=self.table_offset,
                 z_offset=0.01,
+                rng=self.rng,
             )
 
         # task includes arena, robot, and objects of interest

robosuite/environments/manipulation/tool_hang.py

@@ -171,6 +171,7 @@ def __init__(
         camera_segmentations=None,  # {None, instance, class, element}
         renderer="mjviewer",
         renderer_config=None,
+        seed=None,
     ):
         # settings for table top
         self.table_full_size = table_full_size
@@ -210,6 +211,7 @@ def __init__(
             camera_segmentations=camera_segmentations,
             renderer=renderer,
             renderer_config=renderer_config,
+            seed=seed,
         )
 
     def reward(self, action=None):
@@ -392,6 +394,7 @@ def _get_placement_initializer(self):
                     ensure_valid_placement=False,
                     reference_pos=self.table_offset,
                     z_offset=z_offset,
+                    rng=self.rng,
                 )
             )
 

robosuite/environments/manipulation/two_arm_handover.py

@@ -175,6 +175,7 @@ def __init__(
         camera_segmentations=None,  # {None, instance, class, element}
         renderer="mjviewer",
         renderer_config=None,
+        seed=None,
     ):
         # Task settings
         self.prehensile = prehensile
@@ -223,6 +224,7 @@ def __init__(
             camera_segmentations=camera_segmentations,
             renderer=renderer,
             renderer_config=renderer_config,
+            seed=seed,
         )
 
     def reward(self, action=None):
@@ -347,7 +349,7 @@ def _load_model(self):
         )
 
         # initialize objects of interest
-        self.hammer = HammerObject(name="hammer")
+        self.hammer = HammerObject(name="hammer", rng=self.rng)
 
         # Create placement initializer
         if self.placement_initializer is not None:
@@ -366,6 +368,7 @@ def _load_model(self):
                 ensure_object_boundary_in_range=False,
                 ensure_valid_placement=True,
                 reference_pos=self.table_offset,
+                rng=self.rng,
             )
 
         # task includes arena, robot, and objects of interest

robosuite/environments/manipulation/two_arm_lift.py

@@ -172,6 +172,7 @@ def __init__(
         camera_segmentations=None,  # {None, instance, class, element}
         renderer="mjviewer",
         renderer_config=None,
+        seed=None,
     ):
         # settings for table top
         self.table_full_size = table_full_size
@@ -214,6 +215,7 @@ def __init__(
             camera_segmentations=camera_segmentations,
             renderer=renderer,
             renderer_config=renderer_config,
+            seed=seed,
         )
 
     def reward(self, action=None):
@@ -350,6 +352,7 @@ def _load_model(self):
                 ensure_valid_placement=True,
                 reference_pos=self.table_offset,
                 rotation=(np.pi + -np.pi / 3, np.pi + np.pi / 3),
+                rng=self.rng,
             )
 
         # task includes arena, robot, and objects of interest

robosuite/environments/manipulation/two_arm_peg_in_hole.py

@@ -192,6 +192,7 @@ def __init__(
         camera_segmentations=None,  # {None, instance, class, element}
         renderer="mjviewer",
         renderer_config=None,
+        seed=None,
     ):
         # Assert that the gripper type is None
         assert gripper_types is None, "Tried to specify gripper other than None in TwoArmPegInHole environment!"
@@ -233,6 +234,7 @@ def __init__(
             camera_segmentations=camera_segmentations,
             renderer=renderer,
             renderer_config=renderer_config,
+            seed=seed,
         )
 
     def reward(self, action=None):
@@ -350,6 +352,7 @@ def _load_model(self):
             material=greenwood,
             rgba=[0, 1, 0, 1],
             joints=None,
+            rng=self.rng,
         )
 
         # Load hole object

robosuite/environments/manipulation/two_arm_transport.py

@@ -173,6 +173,7 @@ def __init__(
         camera_segmentations=None,  # {None, instance, class, element}
         renderer="mjviewer",
         renderer_config=None,
+        seed=None,
     ):
         # settings for table top
         self.tables_boundary = tables_boundary
@@ -219,6 +220,7 @@ def __init__(
             camera_segmentations=camera_segmentations,
             renderer=renderer,
             renderer_config=renderer_config,
+            seed=seed,
         )
 
     def reward(self, action=None):
@@ -348,8 +350,9 @@ def _load_model(self):
             handle_density=150.0,
             handle_friction=4.0,
             head_density_ratio=1.5,
+            rng=self.rng,
         )
-        trash = BoxObject(name="trash", size=[0.02, 0.02, 0.02], material=redwood)
+        trash = BoxObject(name="trash", size=[0.02, 0.02, 0.02], material=redwood, rng=self.rng)
         self.transport = TransportGroup(
             name="transport",
             payload=payload,
@@ -408,6 +411,7 @@ def _get_placement_initializer(self):
                     ensure_valid_placement=False,
                     reference_pos=table_pos,
                     z_offset=0.001,
+                    rng=self.rng,
                 )
             )