Function train

HomieRL/legged_gym/legged_gym/scripts/train.py:40–45

(args, headless=False)

import torch

def train(args, headless=False):
    args.headless = headless
    # args.resume = True
    env, env_cfg = task_registry.make_env(name=args.task, args=args)
    ppo_runner, train_cfg = task_registry.make_alg_runner(env=env, name=args.task, args=args)
    ppo_runner.learn(num_learning_iterations=train_cfg.runner.max_iterations, init_at_random_ep_len=True)

if __name__ == '__main__':
    args = get_args()