From fd53716688fc19d62369c6397d7682a0f0386208 Mon Sep 17 00:00:00 2001
From: Thomas Landeg <63191808+landegt@users.noreply.github.com>
Date: Mon, 27 Jul 2026 09:42:17 -0700
Subject: [PATCH] fix(envs): make metaworld seeding reproducible (#3727)

Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
---
 src/lerobot/envs/metaworld.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/lerobot/envs/metaworld.py b/src/lerobot/envs/metaworld.py
index bffcf6b6e..a32acbff1 100644
--- a/src/lerobot/envs/metaworld.py
+++ b/src/lerobot/envs/metaworld.py
@@ -155,6 +155,7 @@ class MetaworldEnv(gym.Env):
             env.model.cam_pos[2] = [0.75, 0.075, 0.7]
         env.reset()
         env._freeze_rand_vec = False  # otherwise no randomization
+        env.seeded_rand_vec = True  # use seeded RNG so reset(seed=X) controls object positions
         self._env = env
 
     def render(self) -> np.ndarray:
@@ -220,6 +221,8 @@ class MetaworldEnv(gym.Env):
         self._ensure_env()
         super().reset(seed=seed)
 
+        if seed is not None:
+            self._env.seed(seed)
         raw_obs, info = self._env.reset(seed=seed)
 
         observation = self._format_raw_obs(raw_obs)