Add function to update W&B run name with sequence number

amp_rsl_rl/runners/amp_on_policy_runner.py

@@ -234,12 +234,46 @@ def learn(self, num_learning_iterations: int, init_at_random_ep_len: bool = Fals
                 )
             elif self.logger_type == "wandb":
                 from rsl_rl.utils.wandb_utils import WandbSummaryWriter
+                import wandb
+
+                # Update the run name with a sequence number. This function is useful to
+                # replicate the same behaviour of rsl-rl-lib before v2.3.0
+                def update_run_name_with_sequence(prefix: str) -> None:
+                    # Retrieve the current wandb run details (project and entity)
+                    project = wandb.run.project
+                    entity = wandb.run.entity
+
+                    # Use wandb's API to list all runs in your project
+                    api = wandb.Api()
+                    runs = api.runs(f"{entity}/{project}")
+
+                    max_num = 0
+                    # Iterate through runs to extract the numeric suffix after the prefix.
+                    for run in runs:
+                        if run.name.startswith(prefix):
+                            # Extract the numeric part from the run name.
+                            numeric_suffix = run.name[
+                                len(prefix) :
+                            ]  # e.g., from "prefix564", get "564"
+                            try:
+                                run_num = int(numeric_suffix)
+                                if run_num > max_num:
+                                    max_num = run_num
+                            except ValueError:
+                                continue
+
+                    # Increment to get the new run number
+                    new_num = max_num + 1
+                    new_run_name = f"{prefix}{new_num}"
+
+                    # Update the wandb run's name
+                    wandb.run.name = new_run_name
+                    print("Updated run name to:", wandb.run.name)
 
                 self.writer = WandbSummaryWriter(
                     log_dir=self.log_dir, flush_secs=10, cfg=self.cfg
                 )
-
-                import wandb
+                update_run_name_with_sequence(prefix=self.cfg["wandb_project"])
 
                 wandb.gym.monitor()
                 self.writer.log_config(

amp_rsl_rl/utils/__init__.py

@@ -10,4 +10,10 @@
 from .motion_loader import AMPLoader, download_amp_dataset_from_hf
 from .exporter import export_policy_as_onnx
 
-__all__ = ["Normalizer", "RunningMeanStd", "AMPLoader", "download_amp_dataset_from_hf", "export_policy_as_onnx"]
+__all__ = [
+    "Normalizer",
+    "RunningMeanStd",
+    "AMPLoader",
+    "download_amp_dataset_from_hf",
+    "export_policy_as_onnx",
+]