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