arg_utils.py

import argparse

"""
Util to compile command line arguments for core script to run experiments
for the IFL Benchmark (main.py)
"""


def get_parser():
    # Global Parameters
    parser = argparse.ArgumentParser(
        fromfile_prefix_chars="@", description="IFL Benchmark Arguments"
    )
    parser.add_argument(
        "--env_name",
        default="Humanoid",
        help="Choice of environment. Choices: [Humanoid, Anymal, AllegroHand]",
    )
    parser.add_argument("--logdir", default="logs", help="log directory")
    parser.add_argument("--logdir_suffix", default="", help="log directory suffix")
    parser.add_argument("--cuda", action="store_true", help="run on CUDA")
    parser.add_argument("--cnn", action="store_true", help="visual observations")
    parser.add_argument(
        "--seed", type=int, default=123456, help="random seed (default: 123456)"
    )

    # Parallel experiment
    parser.add_argument(
        "--agent",
        type=str,
        default="IL",
        help="Type of parallel agent; options are in iflb/agents/__init__.py",
    )
    parser.add_argument(
        "--supervisor",
        type=str,
        default="GymRL",
        help="Type of parallel supervisor; options are in iflb/supervisors/__init__.py",
    )
    parser.add_argument(
        "--allocation",
        type=str,
        default="CUR",
        help="Type of allocation strategy; options are in iflb/allocations/__init__.py",
    )
    parser.add_argument("--num_envs", type=int, default=10, help="number of robots")
    parser.add_argument("--num_humans", type=int, default=1, help="number of humans")
    parser.add_argument(
        "--min_int_time", type=int, default=1, help="minimum intervention time"
    )
    parser.add_argument(
        "--hard_reset_time",
        type=int,
        default=0,
        help="number of steps waited before reset completes",
    )
    parser.add_argument(
        "--human_hard_reset_time",
        type=int,
        default=0,
        help="number of steps for each human to wait after unsuccessful allocation",
    )
    parser.add_argument("--log_freq", type=int, default=100, help="log frequency")
    parser.add_argument(
        "--vec_env",
        action="store_true",
        help="whether or not to use vectorized Isaac Gym environments",
    )
    parser.add_argument(
        "--render",
        action="store_true",
        help="whether or not to render an Isaac Gym env",
    )
    parser.add_argument(
        "--resume",
        default="",
        help="if resuming a previous run, this is the logdir from which to load info",
    )
    parser.add_argument(
        "--num_steps",
        type=int,
        default=10000,
        help="maximum number of parallel timesteps (default: 10000)",
    )
    parser.add_argument(
        "--noise",
        type=float,
        default=0.0,
        help="standard deviation for independent zero-mean gaussian noise injection into actions",
    )
    parser.add_argument(
        "--discrete", action="store_true", help="if true, use a discrete action space"
    )
    parser.add_argument(
        "--network", type=str, default="base", help="network architecture"
    )

    return parser