Source code for embodichain.utils

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# Copyright (c) 2021-2026 DexForce Technology Co., Ltd.
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# Licensed under the Apache License, Version 2.0 (the "License");
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"""Shared utilities used across EmbodiChain.

The ``@configclass`` decorator, ``CfgNode`` configuration system, logging, math/tensor helpers, file/string/device/image utilities, non-maximum suppression, and legacy computation import aliases. Domain computations live in ``embodichain.compute``.
"""

from __future__ import annotations

from .configclass import configclass, is_configclass
from .config_paths import resolve_config_path

__all__ = [
    "GLOBAL_SEED",
    "configclass",
    "is_configclass",
    "resolve_config_path",
    "set_seed",
]

GLOBAL_SEED = 1024




def set_seed(seed: int, deterministic: bool = False) -> int:
    """Set the random seed for reproducibility.

    Args:
        seed (int): The seed value to set. If -1, a random seed will be generated.
        deterministic (bool): If True, sets the environment to deterministic mode for reproducibility.
    """
    import random
    import numpy as np
    import torch
    import os
    import warp as wp

    if seed == -1 and deterministic:
        seed = GLOBAL_SEED
    elif seed == -1:
        seed = np.random.randint(0, 10000)

    random.seed(seed)
    np.random.seed(seed)
    torch.manual_seed(seed)
    os.environ["PYTHONHASHSEED"] = str(seed)
    torch.cuda.manual_seed(seed)
    torch.cuda.manual_seed_all(seed)
    wp.rand_init(seed)

    if deterministic:
        # refer to https://docs.nvidia.com/cuda/cublas/index.html#cublasApi_reproducibility
        os.environ["CUBLAS_WORKSPACE_CONFIG"] = ":4096:8"
        torch.backends.cudnn.benchmark = False
        torch.backends.cudnn.deterministic = True
        torch.use_deterministic_algorithms(True)
    else:
        torch.backends.cudnn.benchmark = True
        torch.backends.cudnn.deterministic = False

    return seed