deploy.py

# --------------------------------------------------------
# In-Hand Object Rotation via Rapid Motor Adaptation
# https://arxiv.org/abs/2210.04887
# Copyright (c) 2022 Haozhi Qi
# Licensed under The MIT License [see LICENSE for details]
# --------------------------------------------------------
# Based on: IsaacGymEnvs
# Copyright (c) 2018-2022, NVIDIA Corporation
# Licence under BSD 3-Clause License
# https://github.com/NVIDIA-Omniverse/IsaacGymEnvs/
# --------------------------------------------------------

import hydra

from omegaconf import DictConfig, OmegaConf
from hora.utils.misc import set_np_formatting, set_seed
# noinspection PyUnresolvedReferences
from hora.algo.deploy.deploy import HardwarePlayer


# ---- OmegaConf & Hydra Config
# Resolvers used in hydra configs (see https://omegaconf.readthedocs.io/en/2.1_branch/usage.html#resolvers)
OmegaConf.register_new_resolver('eq', lambda x, y: x.lower() == y.lower())
OmegaConf.register_new_resolver('contains', lambda x, y: x.lower() in y.lower())
OmegaConf.register_new_resolver('if', lambda pred, a, b: a if pred else b)
# allows us to resolve default arguments which are copied in multiple places in the config.
# used primarily for num_ensv
OmegaConf.register_new_resolver('resolve_default', lambda default, arg: default if arg == '' else arg)


@hydra.main(config_name='config', config_path='configs')
def main(config: DictConfig):
    set_np_formatting()
    config.seed = set_seed(config.seed)
    agent = HardwarePlayer(config)
    agent.restore(config.checkpoint)
    agent.deploy()


if __name__ == '__main__':
    main()