| 146 | |
| 147 | |
| 148 | def _print_env_debug(env, env_cfg, agent_cfg, log_root_path: str, log_dir: str) -> None: |
| 149 | obs_space = env.observation_space |
| 150 | action_space = env.action_space |
| 151 | rl_device = agent_cfg["params"]["config"]["device"] |
| 152 | print(f"\n{'=' * 84}") |
| 153 | print("[DEBUG] Dynamic Handover RL-Games Train") |
| 154 | print(f"{'=' * 84}") |
| 155 | print(f"[INFO] Task: {args_cli.task}") |
| 156 | print(f"[INFO] Num envs: {env.unwrapped.num_envs}") |
| 157 | print(f"[INFO] Sim device: {env_cfg.sim.device}") |
| 158 | print(f"[INFO] RL device: {rl_device}") |
| 159 | print(f"[INFO] Seed: {agent_cfg['params']['seed']}") |
| 160 | print(f"[INFO] Max epochs: {agent_cfg['params']['config']['max_epochs']}") |
| 161 | print(f"[INFO] Log root: {log_root_path}") |
| 162 | print(f"[INFO] Log run: {log_dir}") |
| 163 | print(f"[INFO] Observation space: {obs_space}") |
| 164 | print(f"[INFO] Action space: {action_space}") |
| 165 | if hasattr(obs_space, 'shape'): |
| 166 | print(f"[INFO] Observation shape: {obs_space.shape}") |
| 167 | if hasattr(action_space, 'shape'): |
| 168 | print(f"[INFO] Action shape: {action_space.shape}") |
| 169 | print(f"[INFO] Episode length (s): {env_cfg.episode_length_s}") |
| 170 | print(f"[INFO] Step dt: {env.unwrapped.step_dt}") |
| 171 | print(f"{'=' * 84}\n") |
| 172 | |
| 173 | |
| 174 | @hydra_task_config(args_cli.task, args_cli.agent) |