41 lines
1.9 KiB
Python
41 lines
1.9 KiB
Python
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from __future__ import annotations
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import argparse
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import random
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from typing import TYPE_CHECKING
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if TYPE_CHECKING:
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from isaaclab_rl.rsl_rl import RslRlBaseRunnerCfg
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def add_rsl_rl_args(parser: argparse.ArgumentParser):
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arg_group = parser.add_argument_group("rsl_rl", description="Arguments for RSL-RL agent.")
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arg_group.add_argument("--experiment_name", type=str, default=None, help="Experiment folder name.")
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arg_group.add_argument("--run_name", type=str, default=None, help="Run name suffix.")
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arg_group.add_argument("--resume", action="store_true", default=False, help="Resume from checkpoint.")
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arg_group.add_argument("--load_run", type=str, default=None, help="Run folder to resume from.")
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arg_group.add_argument("--checkpoint", type=str, default=None, help="Checkpoint file to resume from.")
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arg_group.add_argument("--logger", type=str, default=None, choices={"wandb", "tensorboard", "neptune"})
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arg_group.add_argument("--log_project_name", type=str, default=None, help="Logger project name.")
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def update_rsl_rl_cfg(agent_cfg: "RslRlBaseRunnerCfg", args_cli: argparse.Namespace):
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if hasattr(args_cli, "seed") and args_cli.seed is not None:
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if args_cli.seed == -1:
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args_cli.seed = random.randint(0, 10000)
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agent_cfg.seed = args_cli.seed
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if args_cli.resume is not None:
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agent_cfg.resume = args_cli.resume
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if args_cli.load_run is not None:
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agent_cfg.load_run = args_cli.load_run
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if args_cli.checkpoint is not None:
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agent_cfg.load_checkpoint = args_cli.checkpoint
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if args_cli.run_name is not None:
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agent_cfg.run_name = args_cli.run_name
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if args_cli.logger is not None:
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agent_cfg.logger = args_cli.logger
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if agent_cfg.logger in {"wandb", "neptune"} and args_cli.log_project_name:
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agent_cfg.wandb_project = args_cli.log_project_name
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agent_cfg.neptune_project = args_cli.log_project_name
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return agent_cfg
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