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0037d53 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 | # Copyright (c) 2024-2025, The UW Lab Project Developers. (https://github.com/uw-lab/UWLab/blob/main/CONTRIBUTORS.md).
# All Rights Reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
import argparse
import importlib.metadata as metadata
import inspect
import random
from typing import TYPE_CHECKING
if TYPE_CHECKING:
from isaaclab_rl.rsl_rl import RslRlBaseRunnerCfg
def add_rsl_rl_args(parser: argparse.ArgumentParser):
"""Add RSL-RL arguments to the parser.
Args:
parser: The parser to add the arguments to.
"""
# create a new argument group
arg_group = parser.add_argument_group("rsl_rl", description="Arguments for RSL-RL agent.")
# -- experiment arguments
arg_group.add_argument(
"--experiment_name", type=str, default=None, help="Name of the experiment folder where logs will be stored."
)
arg_group.add_argument("--run_name", type=str, default=None, help="Run name suffix to the log directory.")
# -- load arguments
arg_group.add_argument("--resume", action="store_true", default=False, help="Whether to resume from a checkpoint.")
arg_group.add_argument("--load_run", type=str, default=None, help="Name of the run folder to resume from.")
arg_group.add_argument("--checkpoint", type=str, default=None, help="Checkpoint file to resume from.")
# -- logger arguments
arg_group.add_argument(
"--logger", type=str, default=None, choices={"wandb", "tensorboard", "neptune"}, help="Logger module to use."
)
arg_group.add_argument(
"--log_project_name", type=str, default=None, help="Name of the logging project when using wandb or neptune."
)
def parse_rsl_rl_cfg(task_name: str, args_cli: argparse.Namespace) -> RslRlBaseRunnerCfg:
"""Parse configuration for RSL-RL agent based on inputs.
Args:
task_name: The name of the environment.
args_cli: The command line arguments.
Returns:
The parsed configuration for RSL-RL agent based on inputs.
"""
from isaaclab_tasks.utils.parse_cfg import load_cfg_from_registry
# load the default configuration
rslrl_cfg: RslRlBaseRunnerCfg = load_cfg_from_registry(task_name, "rsl_rl_cfg_entry_point")
rslrl_cfg = update_rsl_rl_cfg(rslrl_cfg, args_cli)
return rslrl_cfg
def update_rsl_rl_cfg(agent_cfg: RslRlBaseRunnerCfg, args_cli: argparse.Namespace):
"""Update configuration for RSL-RL agent based on inputs.
Args:
agent_cfg: The configuration for RSL-RL agent.
args_cli: The command line arguments.
Returns:
The updated configuration for RSL-RL agent based on inputs.
"""
# override the default configuration with CLI arguments
if hasattr(args_cli, "seed") and args_cli.seed is not None:
# randomly sample a seed if seed = -1
if args_cli.seed == -1:
args_cli.seed = random.randint(0, 10000)
agent_cfg.seed = args_cli.seed
if args_cli.resume is not None:
agent_cfg.resume = args_cli.resume
if args_cli.load_run is not None:
agent_cfg.load_run = args_cli.load_run
if args_cli.checkpoint is not None:
agent_cfg.load_checkpoint = args_cli.checkpoint
if args_cli.run_name is not None:
agent_cfg.run_name = args_cli.run_name
if args_cli.logger is not None:
agent_cfg.logger = args_cli.logger
# set the project name for wandb and neptune
if agent_cfg.logger in {"wandb", "neptune"} and args_cli.log_project_name:
agent_cfg.wandb_project = args_cli.log_project_name
agent_cfg.neptune_project = args_cli.log_project_name
return agent_cfg
def sanitize_rsl_rl_cfg(agent_cfg: RslRlBaseRunnerCfg) -> RslRlBaseRunnerCfg:
"""Make agent_cfg compatible with the installed rsl-rl version.
Calls IsaacLab's deprecation handler, then drops any algorithm-config keys
that the installed algorithm class does not accept (e.g. ``optimizer`` and
``share_cnn_encoders`` were added for rsl-rl >= 4.0 but are absent in 3.x).
"""
from isaaclab_rl.rsl_rl import handle_deprecated_rsl_rl_cfg
installed_version = metadata.version("rsl-rl-lib")
agent_cfg = handle_deprecated_rsl_rl_cfg(agent_cfg, installed_version)
# Resolve the actual algorithm class and drop unknown keys
alg_cfg = agent_cfg.algorithm
class_name = getattr(alg_cfg, "class_name", None)
if class_name is not None:
from rsl_rl import algorithms
alg_class = getattr(algorithms, class_name, None)
if alg_class is not None:
accepted = set(inspect.signature(alg_class.__init__).parameters.keys())
for key in list(vars(alg_cfg)):
if key != "class_name" and key not in accepted:
delattr(alg_cfg, key)
return agent_cfg
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