(args, cfg, cfg_train, sim_params)
| 44 | "Unrecognized task!\nTask should be one of: [BallBalance, Cartpole, CartpoleYUp, Ant, Humanoid, Anymal, FrankaCabinet, Quadcopter, ShadowHand, ShadowHandLSTM, ShadowHandFFOpenAI, ShadowHandFFOpenAITest, ShadowHandOpenAI, ShadowHandOpenAITest, Ingenuity]") |
| 45 | |
| 46 | def parse_task(args, cfg, cfg_train, sim_params): |
| 47 | |
| 48 | # create native task and pass custom config |
| 49 | device_id = args.device_id |
| 50 | rl_device = args.rl_device |
| 51 | |
| 52 | cfg["seed"] = cfg_train.get("seed", -1) |
| 53 | cfg_task = cfg["env"] |
| 54 | cfg_task["seed"] = cfg["seed"] |
| 55 | |
| 56 | try: |
| 57 | task = eval(args.task)( |
| 58 | cfg=cfg, |
| 59 | sim_params=sim_params, |
| 60 | physics_engine=args.physics_engine, |
| 61 | device_type=args.device, |
| 62 | device_id=device_id, |
| 63 | headless=args.headless) |
| 64 | except NameError as e: |
| 65 | print(e) |
| 66 | warn_task_name() |
| 67 | env = VecTaskPythonWrapper(task, rl_device, cfg_train.get("clip_observations", np.inf), cfg_train.get("clip_actions", 1.0)) |
| 68 | |
| 69 | return task, env |
no test coverage detected