scripts/reinforcement_learning/rsl_rl/cli_args.py

# Copyright (c) 2024-2025, The UW Lab Project Developers. (https://github.com/uw-lab/UWLab/blob/main/CONTRIBUTORS.md).
# All Rights Reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

from __future__ import annotations

import argparse
import importlib.metadata as metadata
import inspect
import random
from typing import TYPE_CHECKING

if TYPE_CHECKING:
    from isaaclab_rl.rsl_rl import RslRlBaseRunnerCfg


def add_rsl_rl_args(parser: argparse.ArgumentParser):
    """Add RSL-RL arguments to the parser.

    Args:
        parser: The parser to add the arguments to.
    """
    # create a new argument group
    arg_group = parser.add_argument_group("rsl_rl", description="Arguments for RSL-RL agent.")
    # -- experiment arguments
    arg_group.add_argument(
        "--experiment_name", type=str, default=None, help="Name of the experiment folder where logs will be stored."
    )
    arg_group.add_argument("--run_name", type=str, default=None, help="Run name suffix to the log directory.")
    # -- load arguments
    arg_group.add_argument("--resume", action="store_true", default=False, help="Whether to resume from a checkpoint.")
    arg_group.add_argument("--load_run", type=str, default=None, help="Name of the run folder to resume from.")
    arg_group.add_argument("--checkpoint", type=str, default=None, help="Checkpoint file to resume from.")
    # -- logger arguments
    arg_group.add_argument(
        "--logger", type=str, default=None, choices={"wandb", "tensorboard", "neptune"}, help="Logger module to use."
    )
    arg_group.add_argument(
        "--log_project_name", type=str, default=None, help="Name of the logging project when using wandb or neptune."
    )


def parse_rsl_rl_cfg(task_name: str, args_cli: argparse.Namespace) -> RslRlBaseRunnerCfg:
    """Parse configuration for RSL-RL agent based on inputs.

    Args:
        task_name: The name of the environment.
        args_cli: The command line arguments.

    Returns:
        The parsed configuration for RSL-RL agent based on inputs.
    """
    from isaaclab_tasks.utils.parse_cfg import load_cfg_from_registry

    # load the default configuration
    rslrl_cfg: RslRlBaseRunnerCfg = load_cfg_from_registry(task_name, "rsl_rl_cfg_entry_point")
    rslrl_cfg = update_rsl_rl_cfg(rslrl_cfg, args_cli)
    return rslrl_cfg


def update_rsl_rl_cfg(agent_cfg: RslRlBaseRunnerCfg, args_cli: argparse.Namespace):
    """Update configuration for RSL-RL agent based on inputs.

    Args:
        agent_cfg: The configuration for RSL-RL agent.
        args_cli: The command line arguments.

    Returns:
        The updated configuration for RSL-RL agent based on inputs.
    """
    # override the default configuration with CLI arguments
    if hasattr(args_cli, "seed") and args_cli.seed is not None:
        # randomly sample a seed if seed = -1
        if args_cli.seed == -1:
            args_cli.seed = random.randint(0, 10000)
        agent_cfg.seed = args_cli.seed
    if args_cli.resume is not None:
        agent_cfg.resume = args_cli.resume
    if args_cli.load_run is not None:
        agent_cfg.load_run = args_cli.load_run
    if args_cli.checkpoint is not None:
        agent_cfg.load_checkpoint = args_cli.checkpoint
    if args_cli.run_name is not None:
        agent_cfg.run_name = args_cli.run_name
    if args_cli.logger is not None:
        agent_cfg.logger = args_cli.logger
    # set the project name for wandb and neptune
    if agent_cfg.logger in {"wandb", "neptune"} and args_cli.log_project_name:
        agent_cfg.wandb_project = args_cli.log_project_name
        agent_cfg.neptune_project = args_cli.log_project_name

    return agent_cfg


def sanitize_rsl_rl_cfg(agent_cfg: RslRlBaseRunnerCfg) -> RslRlBaseRunnerCfg:
    """Make agent_cfg compatible with the installed rsl-rl version.

    Calls IsaacLab's deprecation handler, then drops any algorithm-config keys
    that the installed algorithm class does not accept (e.g. ``optimizer`` and
    ``share_cnn_encoders`` were added for rsl-rl >= 4.0 but are absent in 3.x).
    """
    from isaaclab_rl.rsl_rl import handle_deprecated_rsl_rl_cfg

    installed_version = metadata.version("rsl-rl-lib")
    agent_cfg = handle_deprecated_rsl_rl_cfg(agent_cfg, installed_version)

    # Resolve the actual algorithm class and drop unknown keys
    alg_cfg = agent_cfg.algorithm
    class_name = getattr(alg_cfg, "class_name", None)
    if class_name is not None:
        from rsl_rl import algorithms

        alg_class = getattr(algorithms, class_name, None)
        if alg_class is not None:
            accepted = set(inspect.signature(alg_class.__init__).parameters.keys())
            for key in list(vars(alg_cfg)):
                if key != "class_name" and key not in accepted:
                    delattr(alg_cfg, key)

    return agent_cfg