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Refactor train.py and cfg to allow hydra tab completion #127

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Refactor train.py and cfg to allow hydra tab completion #127

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3 changes: 2 additions & 1 deletion isaacgymenvs/cfg/config.yaml
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Expand Up @@ -61,7 +61,8 @@ headless: False
defaults:
- task: Ant
- train: ${task}PPO
- hydra/job_logging: disabled
- override hydra/job_logging: disabled
- _self_

# set the directory where the output files get saved
hydra:
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27 changes: 13 additions & 14 deletions isaacgymenvs/train.py
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Expand Up @@ -28,21 +28,9 @@
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
import logging
import os
import datetime

# noinspection PyUnresolvedReferences
import isaacgym

import hydra
from hydra.utils import to_absolute_path
from isaacgymenvs.tasks import isaacgym_task_map
from omegaconf import DictConfig, OmegaConf
import gym

from isaacgymenvs.utils.reformat import omegaconf_to_dict, print_dict
from isaacgymenvs.utils.utils import set_np_formatting, set_seed

def preprocess_train_config(cfg, config_dict):
"""
Expand All @@ -67,9 +55,20 @@ def preprocess_train_config(cfg, config_dict):
return config_dict


@hydra.main(config_name="config", config_path="./cfg")
@hydra.main(version_base="1.1", config_name="config", config_path="./cfg")
def launch_rlg_hydra(cfg: DictConfig):

import logging
import os
import datetime
# noinspection PyUnresolvedReferences
import isaacgym

from hydra.utils import to_absolute_path
from isaacgymenvs.tasks import isaacgym_task_map
import gym

from isaacgymenvs.utils.reformat import omegaconf_to_dict, print_dict
from isaacgymenvs.utils.utils import set_np_formatting, set_seed
from isaacgymenvs.utils.rlgames_utils import RLGPUEnv, RLGPUAlgoObserver, MultiObserver, ComplexObsRLGPUEnv
from isaacgymenvs.utils.wandb_utils import WandbAlgoObserver
from rl_games.common import env_configurations, vecenv
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