How to make reproducible simulations ?
In order for a Webots simulation to be reproducible, the following conditions must be fulfilled: • Each individual simulation must be restarted either by pushing the Revert button, or by using the wb_simulation_revert() function, or by restarting Webots. Any other method for resetting the simulation will not reset the physics (velocity, inertia, etc.) and other simulation data, hence the simulation state will be reset only partly. • The synchronization flag of every robot and supervisor must be TRUE. Otherwise the number of physics steps per control step may vary and hence the robot’s behavior may also vary. • The controller (or physics plugin) code must not use a pseudo random generator initialized with an non-deterministic seed such as the system time. For example this is not suitable for reproducible experiments: srand(time(NULL)). If the three above conditions are met, Webots simulations become deterministic. Note that random seeds used by Webots are reset each time a simulation is
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