Adds the Hydra configuration system for RL training #700
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Mayankm96
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Mayankm96
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source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py
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source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/hydra.py
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…ils/hydra.py Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Signed-off-by: David Hoeller <dhoeller@nvidia.com>
…ils/hydra.py Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Signed-off-by: David Hoeller <dhoeller@nvidia.com>
…ils/hydra.py Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Signed-off-by: David Hoeller <dhoeller@nvidia.com>
romesco
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Some high-level comments, but I will follow up with some snippets.
Also general note: Currently, this PR leaves a lot on the table w.r.t the benefits of typing and config groups, but I understand that the minimum viable integration is important to get shipped first!
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/hydra.py
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kellyguo11
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Aug 17, 2024
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Thanks for the review and recommendations @romesco! I'll get this one merged in first as the initial integration, please feel free to create follow up pull requests. |
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# Description This MR adds utilities to enable the hydra configuration system. Using the `train.py` scripts, the user can now change any parameter in the environment or agent configs from command line inputs, for example: ``` python source/standalone/workflows/rsl_rl/train.py --task Isaac-Cartpole-v0 --headless env.actions.joint_effort.scale=10.0 ``` ## Type of change - New feature (non-breaking change which adds functionality) ## Checklist - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: David Hoeller <dhoeller@nvidia.com> Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
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Description
This MR adds utilities to enable the hydra configuration system.
Using the
train.pyscripts, the user can now change any parameter in the environment or agent configs from command line inputs, for example:Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there