diff --git a/docs/source/examples/real_world/franka_emika_panda/reaching_franka_omniverse_isaacgym_env.py b/docs/source/examples/real_world/franka_emika_panda/reaching_franka_omniverse_isaacgym_env.py
index 9e7f07bd..248f342b 100644
--- a/docs/source/examples/real_world/franka_emika_panda/reaching_franka_omniverse_isaacgym_env.py
+++ b/docs/source/examples/real_world/franka_emika_panda/reaching_franka_omniverse_isaacgym_env.py
@@ -1,9 +1,6 @@
 import torch
 import numpy as np
 
-from omni.isaac.core.utils.extensions import enable_extension
-enable_extension("omni.replicator.isaac")  # required by OIGE
-
 from omniisaacgymenvs.tasks.base.rl_task import RLTask
 from omniisaacgymenvs.robots.articulations.franka import Franka as Robot
 
@@ -27,6 +24,8 @@
             "headless": True,
             "sim_device": "gpu",
             "enable_livestream": False,
+            "warp": False,
+            "seed": 42,
             "task": {"name": "ReachingFranka",
                      "physics_engine": "physx",
                      "env": {"numEnvs": 1024,
@@ -86,6 +85,7 @@
                                        "rest_offset": 0.0},
                              "target": {"override_usd_defaults": False,
                                         "fixed_base": True,
+                                        "make_kinematic": True,
                                         "enable_self_collisions": False,
                                         "enable_gyroscopic_forces": True,
                                         "solver_position_iteration_count": 4,
diff --git a/docs/source/examples/real_world/franka_emika_panda/reaching_franka_omniverse_isaacgym_skrl_eval.py b/docs/source/examples/real_world/franka_emika_panda/reaching_franka_omniverse_isaacgym_skrl_eval.py
index ed4416b4..204a5584 100644
--- a/docs/source/examples/real_world/franka_emika_panda/reaching_franka_omniverse_isaacgym_skrl_eval.py
+++ b/docs/source/examples/real_world/franka_emika_panda/reaching_franka_omniverse_isaacgym_skrl_eval.py
@@ -8,6 +8,11 @@
 from skrl.trainers.torch import SequentialTrainer
 from skrl.utils.omniverse_isaacgym_utils import get_env_instance
 from skrl.envs.torch import wrap_env
+from skrl.utils import set_seed
+
+
+# Seed for reproducibility
+seed = set_seed()  # e.g. `set_seed(42)` for fixed seed
 
 
 # Define only the policy for evaluation
@@ -37,6 +42,7 @@ def compute(self, inputs, role):
 from omniisaacgymenvs.utils.config_utils.sim_config import SimConfig
 from reaching_franka_omniverse_isaacgym_env import ReachingFrankaTask, TASK_CFG
 
+TASK_CFG["seed"] = seed
 TASK_CFG["headless"] = headless
 TASK_CFG["task"]["env"]["numEnvs"] = 64
 TASK_CFG["task"]["env"]["controlSpace"] = "joint"  # "joint" or "cartesian"
diff --git a/docs/source/examples/real_world/franka_emika_panda/reaching_franka_omniverse_isaacgym_skrl_train.py b/docs/source/examples/real_world/franka_emika_panda/reaching_franka_omniverse_isaacgym_skrl_train.py
index 899df201..75d28c3e 100644
--- a/docs/source/examples/real_world/franka_emika_panda/reaching_franka_omniverse_isaacgym_skrl_train.py
+++ b/docs/source/examples/real_world/franka_emika_panda/reaching_franka_omniverse_isaacgym_skrl_train.py
@@ -13,8 +13,8 @@
 from skrl.utils import set_seed
 
 
-# set the seed for reproducibility
-set_seed(42)
+# Seed for reproducibility
+seed = set_seed()  # e.g. `set_seed(42)` for fixed seed
 
 
 # Define the models (stochastic and deterministic models) for the agent using helper mixin.
@@ -62,6 +62,7 @@ def compute(self, inputs, role):
 from omniisaacgymenvs.utils.config_utils.sim_config import SimConfig
 from reaching_franka_omniverse_isaacgym_env import ReachingFrankaTask, TASK_CFG
 
+TASK_CFG["seed"] = seed
 TASK_CFG["headless"] = headless
 TASK_CFG["task"]["env"]["numEnvs"] = 1024
 TASK_CFG["task"]["env"]["controlSpace"] = "joint"  # "joint" or "cartesian"
diff --git a/docs/source/examples/real_world/kuka_lbr_iiwa/reaching_iiwa_omniverse_isaacgym_env.py b/docs/source/examples/real_world/kuka_lbr_iiwa/reaching_iiwa_omniverse_isaacgym_env.py
index f3a5a458..495892cd 100644
--- a/docs/source/examples/real_world/kuka_lbr_iiwa/reaching_iiwa_omniverse_isaacgym_env.py
+++ b/docs/source/examples/real_world/kuka_lbr_iiwa/reaching_iiwa_omniverse_isaacgym_env.py
@@ -1,9 +1,6 @@
 import torch
 import numpy as np
 
-from omni.isaac.core.utils.extensions import enable_extension
-enable_extension("omni.replicator.isaac")  # required by OIGE
-
 from omniisaacgymenvs.tasks.base.rl_task import RLTask
 
 from omni.isaac.core.prims import RigidPrimView
@@ -28,6 +25,8 @@
             "headless": True,
             "sim_device": "gpu",
             "enable_livestream": False,
+            "warp": False,
+            "seed": 42,
             "task": {"name": "ReachingIiwa",
                      "physics_engine": "physx",
                      "env": {"numEnvs": 1024,
@@ -87,6 +86,7 @@
                                        "rest_offset": 0.0},
                              "target": {"override_usd_defaults": False,
                                         "fixed_base": True,
+                                        "make_kinematic": True,
                                         "enable_self_collisions": False,
                                         "enable_gyroscopic_forces": True,
                                         "solver_position_iteration_count": 4,
diff --git a/docs/source/examples/real_world/kuka_lbr_iiwa/reaching_iiwa_omniverse_isaacgym_skrl_eval.py b/docs/source/examples/real_world/kuka_lbr_iiwa/reaching_iiwa_omniverse_isaacgym_skrl_eval.py
index c9494217..c6cb93b8 100644
--- a/docs/source/examples/real_world/kuka_lbr_iiwa/reaching_iiwa_omniverse_isaacgym_skrl_eval.py
+++ b/docs/source/examples/real_world/kuka_lbr_iiwa/reaching_iiwa_omniverse_isaacgym_skrl_eval.py
@@ -8,6 +8,11 @@
 from skrl.trainers.torch import SequentialTrainer
 from skrl.utils.omniverse_isaacgym_utils import get_env_instance
 from skrl.envs.torch import wrap_env
+from skrl.utils import set_seed
+
+
+# Seed for reproducibility
+seed = set_seed()  # e.g. `set_seed(42)` for fixed seed
 
 
 # Define only the policy for evaluation
@@ -37,6 +42,7 @@ def compute(self, inputs, role):
 from omniisaacgymenvs.utils.config_utils.sim_config import SimConfig
 from reaching_iiwa_omniverse_isaacgym_env import ReachingIiwaTask, TASK_CFG
 
+TASK_CFG["seed"] = seed
 TASK_CFG["headless"] = headless
 TASK_CFG["task"]["env"]["numEnvs"] = 64
 TASK_CFG["task"]["env"]["controlSpace"] = "joint"  # "joint" or "cartesian"
diff --git a/docs/source/examples/real_world/kuka_lbr_iiwa/reaching_iiwa_omniverse_isaacgym_skrl_train.py b/docs/source/examples/real_world/kuka_lbr_iiwa/reaching_iiwa_omniverse_isaacgym_skrl_train.py
index d109085a..861cd77e 100644
--- a/docs/source/examples/real_world/kuka_lbr_iiwa/reaching_iiwa_omniverse_isaacgym_skrl_train.py
+++ b/docs/source/examples/real_world/kuka_lbr_iiwa/reaching_iiwa_omniverse_isaacgym_skrl_train.py
@@ -13,8 +13,8 @@
 from skrl.utils import set_seed
 
 
-# set the seed for reproducibility
-set_seed(42)
+# Seed for reproducibility
+seed = set_seed()  # e.g. `set_seed(42)` for fixed seed
 
 
 # Define the models (stochastic and deterministic models) for the agent using helper mixin.
@@ -62,6 +62,7 @@ def compute(self, inputs, role):
 from omniisaacgymenvs.utils.config_utils.sim_config import SimConfig
 from reaching_iiwa_omniverse_isaacgym_env import ReachingIiwaTask, TASK_CFG
 
+TASK_CFG["seed"] = seed
 TASK_CFG["headless"] = headless
 TASK_CFG["task"]["env"]["numEnvs"] = 1024
 TASK_CFG["task"]["env"]["controlSpace"] = "joint"  # "joint" or "cartesian"