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Added impl and njmax flags from rsl training #211

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Added impl and njmax flags from rsl training #211

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eeda4ba
Added impl and njmax flags from rsl training
kywch Sep 16, 2025
5af0473
Add playground_config_overrides flag like brax learner
kywch Sep 16, 2025
13225cc
randomize cube size and mass
kywch Sep 20, 2025
feb969e
Revert back dm-related changes unrelated to the PR
kywch Sep 20, 2025
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7 changes: 7 additions & 0 deletions learning/train_rsl_rl.py
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Original file line number Diff line number Diff line change
Expand Up @@ -54,6 +54,10 @@
f"{', '.join(mujoco_playground.registry.ALL_ENVS)}"
),
)
_IMPL = flags.DEFINE_enum("impl", "jax", ["jax", "warp"], "MJX implementation")
_NJMAX = flags.DEFINE_integer(
"njmax", None, "The maximum number of constraints per world."
)
_LOAD_RUN_NAME = flags.DEFINE_string(
"load_run_name", None, "Run name to load from (for checkpoint restoration)."
)
Expand Down Expand Up @@ -108,6 +112,9 @@ def main(argv):

# Load default config from registry
env_cfg = registry.get_default_config(_ENV_NAME.value)
env_cfg.impl = _IMPL.value
if _NJMAX.present:
env_cfg.njmax = _NJMAX.value
print(f"Environment config:\n{env_cfg}")

# Generate unique experiment name
Expand Down