Raise Warp's determinism mode instead of reading intent from its value

The previous guard skipped the request whenever warp.config.deterministic was
not NOT_GUARANTEED, treating any non-default value as a deliberate choice. It
cannot tell one from the other, and it left a configured gpu_to_gpu below the
requested guarantee when something had already selected run_to_run.

The modes are ordered by strength, so the request now only ever raises the
setting: a stronger guarantee already in place is kept, a weaker one is
upgraded.

Author: hujc7

source/isaaclab_rl/isaaclab_rl/entrypoints/common.py

@@ -517,20 +517,23 @@ def request_warp_determinism(physics_cfg: Any) -> None:
     ``warp.DeterministicMode`` members lowercased, so ``"gpu_to_gpu"`` selects
     ``GPU_TO_GPU`` rather than being weakened to ``RUN_TO_RUN``. Warp reads the setting at module
     build time, so it must land before the first kernel launch; :func:`apply_env_overrides` runs
-    before the environment is created. A mode already set on ``warp.config`` is left alone.
+    before the environment is created.
+
+    The modes are ordered by strength, and this only ever raises the setting. Reading the current
+    value cannot tell a deliberate choice from the shipped default, so rather than guess at intent
+    it never weakens a guarantee already in place -- whoever set it, they wanted at least that much.
 
     Args:
         physics_cfg: Resolved physics config, or ``None`` when the config tree carries none.
     """
     import warp as wp
 
-    if wp.config.deterministic != wp.DeterministicMode.NOT_GUARANTEED:
-        return
     requested = getattr(physics_cfg, "deterministic_mode", None)
     mode = getattr(wp.DeterministicMode, requested.upper(), None) if isinstance(requested, str) else None
     if mode is None or mode == wp.DeterministicMode.NOT_GUARANTEED:
         mode = wp.DeterministicMode.RUN_TO_RUN
-    wp.config.deterministic = mode
+    if wp.config.deterministic < mode:
+        wp.config.deterministic = mode
 
 
 def validate_distributed_device(args_cli: argparse.Namespace) -> None:

source/isaaclab_rl/test/test_entrypoints_common.py

@@ -476,6 +476,20 @@ def test_apply_env_overrides_keeps_an_explicit_warp_mode(monkeypatch: pytest.Mon
     assert wp.config.deterministic == wp.DeterministicMode.GPU_TO_GPU
 
 
+def test_apply_env_overrides_raises_an_already_weaker_warp_mode(monkeypatch: pytest.MonkeyPatch) -> None:
+    """A guarantee already in place is raised to the configured one, never left below it."""
+    import warp as wp
+
+    monkeypatch.setattr(wp.config, "deterministic", wp.DeterministicMode.RUN_TO_RUN)
+    physics = _fake_physics_cfg("NewtonCfg", deterministic_mode="gpu_to_gpu")
+    env_cfg = SimpleNamespace(sim=SimpleNamespace(physics=physics))
+
+    args_cli = argparse.Namespace(num_envs=None, device=None, deterministic=True)
+    _rl_common.apply_env_overrides(args_cli, env_cfg, apply_device=False)
+
+    assert wp.config.deterministic == wp.DeterministicMode.GPU_TO_GPU
+
+
 def test_apply_env_overrides_leaves_warp_alone_without_the_flag(monkeypatch: pytest.MonkeyPatch) -> None:
     """Without ``--deterministic`` Warp keeps its default, so no run pays for determinism."""
     import warp as wp