| # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | |
| # SPDX-License-Identifier: Apache-2.0 | |
| # | |
| # Licensed under the Apache License, Version 2.0 (the "License"); | |
| # you may not use this file except in compliance with the License. | |
| # You may obtain a copy of the License at | |
| # | |
| # http://www.apache.org/licenses/LICENSE-2.0 | |
| # | |
| # Unless required by applicable law or agreed to in writing, software | |
| # distributed under the License is distributed on an "AS IS" BASIS, | |
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | |
| # See the License for the specific language governing permissions and | |
| # limitations under the License. | |
| import logging | |
| import os | |
| from pathlib import Path | |
| import tyro | |
| from gr00t.configs.base_config import Config, get_default_config | |
| from gr00t.experiment.experiment import run | |
| if __name__ == "__main__": | |
| # Set LOGURU_LEVEL environment variable if not already set (default: INFO) | |
| if "LOGURU_LEVEL" not in os.environ: | |
| os.environ["LOGURU_LEVEL"] = "INFO" | |
| # Use tyro for clean CLI | |
| config = tyro.cli(Config, default=get_default_config(), description=__doc__) | |
| # Load config from path if provided | |
| if config.load_config_path: | |
| assert Path(config.load_config_path).exists(), ( | |
| f"Config path does not exist: {config.load_config_path}" | |
| ) | |
| config = config.load(Path(config.load_config_path)) # inplace loading | |
| config.load_config_path = None | |
| logging.info(f"Loaded config from {config.load_config_path}") | |
| # Override with command-line. | |
| config = tyro.cli(Config, default=config, description=__doc__) | |
| run(config) | |