initial commit

scripts/rsl_rl/cli_args.py

@@ -0,0 +1,91 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+from __future__ import annotations
+
+import argparse
+import random
+from typing import TYPE_CHECKING
+
+if TYPE_CHECKING:
+    from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg
+
+
+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) -> RslRlOnPolicyRunnerCfg:
+    """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: RslRlOnPolicyRunnerCfg = 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: RslRlOnPolicyRunnerCfg, 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