train.py

# train.py
# Script to train policies in Isaac Gym
#
# Copyright (c) 2018-2021, NVIDIA Corporation
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import isaacgym

import os
import hydra
import datetime
from termcolor import cprint
from omegaconf import DictConfig, OmegaConf
from hydra.utils import to_absolute_path

from penspin.algo.ppo.ppo import PPO
from penspin.algo.ppo.demon import DemonTrain
from penspin.tasks import isaacgym_task_map
from penspin.utils.reformat import omegaconf_to_dict, print_dict
from penspin.utils.misc import set_np_formatting, set_seed, git_hash, git_diff_config

# OmegaConf & Hydra Config
# Resolvers used in hydra configs (see https://omegaconf.readthedocs.io/en/2.1_branch/usage.html#resolvers)
OmegaConf.register_new_resolver('eq', lambda x, y: x.lower() == y.lower())
OmegaConf.register_new_resolver('contains', lambda x, y: x.lower() in y.lower())
OmegaConf.register_new_resolver('if', lambda pred, a, b: a if pred else b)
# allows us to resolve default arguments which are copied in multiple places in the config.
# used primarily for num_env
OmegaConf.register_new_resolver('resolve_default', lambda default, arg: default if arg == '' else arg)


@hydra.main(config_name='config', config_path='configs')
def main(config: DictConfig):
    time_str = datetime.datetime.now().strftime("%Y-%m-%d_%H-%M-%S")
    run_name = f"{config.wandb_name}_{time_str}"

    if config.checkpoint:
        if '*' in config.checkpoint:
            from glob import glob
            _ckpt = glob(config.checkpoint)
            assert len(_ckpt) == 1
            config.checkpoint = _ckpt[0]
        config.checkpoint = to_absolute_path(config.checkpoint)

    # set numpy formatting for printing only
    set_np_formatting()

    cfg_dict = omegaconf_to_dict(config)
    print_dict(cfg_dict)

    config.seed = set_seed(config.seed)

    if config.wandb_activate:
        import wandb
        run = wandb.init(
            project=config.wandb_project,
            # group=cfg.wandb_group,
            # entity=cfg.wandb_entity,
            config=cfg_dict,
            sync_tensorboard=True,
            name=run_name,
            resume="allow",
            monitor_gym=True,
        )

    cprint('Start Building the Environment', 'green', attrs=['bold'])
    env = isaacgym_task_map[config.task_name](
        config=omegaconf_to_dict(config.task),
        sim_device=config.sim_device,
        graphics_device_id=config.graphics_device_id,
        headless=config.headless,
    )

    output_dif = os.path.join('outputs', config.train.ppo.output_name)
    os.makedirs(output_dif, exist_ok=True)
    agent = eval(config.train.algo)(env, output_dif, full_config=config)
    if config.test:
        assert config.train.load_path
        agent.restore_test(config.train.load_path)
        agent.test()
    else:
        date = str(datetime.datetime.now().strftime('%m%d%H'))
        print(git_diff_config('./'))
        gitdiff_suffix = ''
        os.system(f'git diff HEAD > {output_dif}/gitdiff{gitdiff_suffix}.patch')
        with open(os.path.join(output_dif, f'config_{date}_{git_hash()}.yaml'), 'w') as f:
            f.write(OmegaConf.to_yaml(config))
        agent.restore_train(config.train.load_path)
        agent.train()


if __name__ == '__main__':
    main()