Init

legged_gym/scripts/train.py

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+import os
+import numpy as np
+from datetime import datetime
+import sys
+
+import isaacgym
+from legged_gym.envs import *
+from legged_gym.utils import get_args, task_registry
+import torch
+
+def train(args):
+    env, env_cfg = task_registry.make_env(name=args.task, args=args)
+    runner, train_cfg = task_registry.make_alg_runner(env=env, name=args.task, args=args)
+    env.common_step_counter = runner.current_learning_iteration * env.num_steps_per_env  # resume env step counter
+    env.update_reward_curriculum(force_update=True)  # force update reward curriculum at start
+    runner.learn(num_learning_iterations=train_cfg.runner.max_iterations, init_at_random_ep_len=True)
+
+if __name__ == '__main__':
+    args = get_args()
+    train(args)