Reinforcement Learning Scripts
==============================

We provide wrappers to different reinforcement libraries. These wrappers convert the data
from the environments into the respective libraries function argument and return types.


RL-Games
--------

-  Training an agent with
   `RL-Games <https://github.com/Denys88/rl_games>`__ on ``Isaac-Ant-v0``:

   .. tab-set::
      :sync-group: os

      .. tab-item:: :icon:`fa-brands fa-linux` Linux
         :sync: linux

         .. code:: bash

            # install python module (for rl-games)
            ./isaaclab.sh -i rl_games
            # run script for training
            ./isaaclab.sh -p scripts/reinforcement_learning/rl_games/train.py --task Isaac-Ant-v0 --headless
            # run script for playing with 32 environments
            ./isaaclab.sh -p scripts/reinforcement_learning/rl_games/play.py --task Isaac-Ant-v0 --num_envs 32 --checkpoint /PATH/TO/model.pth
            # run script for playing a pre-trained checkpoint with 32 environments
            ./isaaclab.sh -p scripts/reinforcement_learning/rl_games/play.py --task Isaac-Ant-v0 --num_envs 32 --use_pretrained_checkpoint
            # run script for recording video of a trained agent (requires installing `ffmpeg`)
            ./isaaclab.sh -p scripts/reinforcement_learning/rl_games/play.py --task Isaac-Ant-v0 --headless --video --video_length 200

      .. tab-item:: :icon:`fa-brands fa-windows` Windows
         :sync: windows

         .. code:: batch

            :: install python module (for rl-games)
            isaaclab.bat -i rl_games
            :: run script for training
            isaaclab.bat -p scripts\reinforcement_learning\rl_games\train.py --task Isaac-Ant-v0 --headless
            :: run script for playing with 32 environments
            isaaclab.bat -p scripts\reinforcement_learning\rl_games\play.py --task Isaac-Ant-v0 --num_envs 32 --checkpoint /PATH/TO/model.pth
            :: run script for playing a pre-trained checkpoint with 32 environments
            isaaclab.bat -p scripts\reinforcement_learning\rl_games\play.py --task Isaac-Ant-v0 --num_envs 32 --use_pretrained_checkpoint
            :: run script for recording video of a trained agent (requires installing `ffmpeg`)
            isaaclab.bat -p scripts\reinforcement_learning\rl_games\play.py --task Isaac-Ant-v0 --headless --video --video_length 200

RSL-RL
------

-  Training an agent with
   `RSL-RL <https://github.com/leggedrobotics/rsl_rl>`__ on ``Isaac-Reach-Franka-v0``:

   .. tab-set::
      :sync-group: os

      .. tab-item:: :icon:`fa-brands fa-linux` Linux
         :sync: linux

         .. code:: bash

            # install python module (for rsl-rl)
            ./isaaclab.sh -i rsl_rl
            # run script for training
            ./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Reach-Franka-v0 --headless
            # run script for playing with 32 environments
            ./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/play.py --task Isaac-Reach-Franka-v0 --num_envs 32 --load_run run_folder_name --checkpoint model.pt
            # run script for playing a pre-trained checkpoint with 32 environments
            ./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/play.py --task Isaac-Reach-Franka-v0 --num_envs 32 --use_pretrained_checkpoint
            # run script for recording video of a trained agent (requires installing `ffmpeg`)
            ./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/play.py --task Isaac-Reach-Franka-v0 --headless --video --video_length 200

      .. tab-item:: :icon:`fa-brands fa-windows` Windows
         :sync: windows

         .. code:: batch

            :: install python module (for rsl-rl)
            isaaclab.bat -i rsl_rl
            :: run script for training
            isaaclab.bat -p scripts\reinforcement_learning\rsl_rl\train.py --task Isaac-Reach-Franka-v0 --headless
            :: run script for playing with 32 environments
            isaaclab.bat -p scripts\reinforcement_learning\rsl_rl\play.py --task Isaac-Reach-Franka-v0 --num_envs 32 --load_run run_folder_name --checkpoint model.pt
            :: run script for playing a pre-trained checkpoint with 32 environments
            isaaclab.bat -p scripts\reinforcement_learning\rsl_rl\play.py --task Isaac-Reach-Franka-v0 --num_envs 32 --use_pretrained_checkpoint
            :: run script for recording video of a trained agent (requires installing `ffmpeg`)
            isaaclab.bat -p scripts\reinforcement_learning\rsl_rl\play.py --task Isaac-Reach-Franka-v0 --headless --video --video_length 200

SKRL
----

-  Training an agent with
   `SKRL <https://skrl.readthedocs.io>`__ on ``Isaac-Reach-Franka-v0``:

   .. tab-set::

      .. tab-item:: PyTorch

            .. tab-set::
               :sync-group: os

               .. tab-item:: :icon:`fa-brands fa-linux` Linux
                  :sync: linux

                  .. code:: bash

                     # install python module (for skrl)
                     ./isaaclab.sh -i skrl
                     # run script for training
                     ./isaaclab.sh -p scripts/reinforcement_learning/skrl/train.py --task Isaac-Reach-Franka-v0 --headless
                     # run script for playing with 32 environments
                     ./isaaclab.sh -p scripts/reinforcement_learning/skrl/play.py --task Isaac-Reach-Franka-v0 --num_envs 32 --checkpoint /PATH/TO/model.pt
                     # run script for playing a pre-trained checkpoint with 32 environments
                     ./isaaclab.sh -p scripts/reinforcement_learning/skrl/play.py --task Isaac-Reach-Franka-v0 --num_envs 32 --use_pretrained_checkpoint
                     # run script for recording video of a trained agent (requires installing `ffmpeg`)
                     ./isaaclab.sh -p scripts/reinforcement_learning/skrl/play.py --task Isaac-Reach-Franka-v0 --headless --video --video_length 200

               .. tab-item:: :icon:`fa-brands fa-windows` Windows
                  :sync: windows

                  .. code:: batch

                     :: install python module (for skrl)
                     isaaclab.bat -i skrl
                     :: run script for training
                     isaaclab.bat -p scripts\reinforcement_learning\skrl\train.py --task Isaac-Reach-Franka-v0 --headless
                     :: run script for playing with 32 environments
                     isaaclab.bat -p scripts\reinforcement_learning\skrl\play.py --task Isaac-Reach-Franka-v0 --num_envs 32 --checkpoint /PATH/TO/model.pt
                     :: run script for playing a pre-trained checkpoint with 32 environments
                     isaaclab.bat -p scripts\reinforcement_learning\skrl\play.py --task Isaac-Reach-Franka-v0 --num_envs 32 --use_pretrained_checkpoint
                     :: run script for recording video of a trained agent (requires installing `ffmpeg`)
                     isaaclab.bat -p scripts\reinforcement_learning\skrl\play.py --task Isaac-Reach-Franka-v0 --headless --video --video_length 200

      .. tab-item:: JAX

         .. warning::

            It is recommended to `install JAX <https://jax.readthedocs.io/en/latest/installation.html>`_ manually before proceeding to install skrl and its dependencies, as JAX installs its CPU version by default. For example, ``pip install -U "jax[cuda12]"`` can be used to install JAX for CUDA 12.
            Visit the **skrl** `installation <https://skrl.readthedocs.io/en/latest/intro/installation.html>`_ page for more details.
            Note that JAX GPU support is only available on Linux.

         .. code:: bash

            # install python module (for skrl)
            ./isaaclab.sh -i skrl
            # install skrl dependencies for JAX
            ./isaaclab.sh -p -m pip install skrl["jax"]
            # run script for training
            ./isaaclab.sh -p scripts/reinforcement_learning/skrl/train.py --task Isaac-Reach-Franka-v0 --headless --ml_framework jax
            # run script for playing with 32 environments
            ./isaaclab.sh -p scripts/reinforcement_learning/skrl/play.py --task Isaac-Reach-Franka-v0 --num_envs 32  --ml_framework jax --checkpoint /PATH/TO/model.pt
            # run script for recording video of a trained agent (requires installing `ffmpeg`)
            ./isaaclab.sh -p scripts/reinforcement_learning/skrl/play.py --task Isaac-Reach-Franka-v0 --headless --ml_framework jax --video --video_length 200

   - Training the multi-agent environment ``Isaac-Shadow-Hand-Over-Direct-v0`` with skrl:

   .. tab-set::
      :sync-group: os

      .. tab-item:: :icon:`fa-brands fa-linux` Linux
         :sync: linux

         .. code:: bash

            # install python module (for skrl)
            ./isaaclab.sh -i skrl
            # run script for training with the MAPPO algorithm (IPPO is also supported)
            ./isaaclab.sh -p scripts/reinforcement_learning/skrl/train.py --task Isaac-Shadow-Hand-Over-Direct-v0 --headless --algorithm MAPPO
            # run script for playing with 32 environments with the MAPPO algorithm (IPPO is also supported)
            ./isaaclab.sh -p scripts/reinforcement_learning/skrl/play.py --task Isaac-Shadow-Hand-Over-Direct-v0 --num_envs 32 --algorithm MAPPO --checkpoint /PATH/TO/model.pt

      .. tab-item:: :icon:`fa-brands fa-windows` Windows
         :sync: windows

         .. code:: batch

            :: install python module (for skrl)
            isaaclab.bat -i skrl
            :: run script for training with the MAPPO algorithm (IPPO is also supported)
            isaaclab.bat -p scripts\reinforcement_learning\skrl\train.py --task Isaac-Shadow-Hand-Over-Direct-v0 --headless --algorithm MAPPO
            :: run script for playing with 32 environments with the MAPPO algorithm (IPPO is also supported)
            isaaclab.bat -p scripts\reinforcement_learning\skrl\play.py --task Isaac-Shadow-Hand-Over-Direct-v0 --num_envs 32 --algorithm MAPPO --checkpoint /PATH/TO/model.pt

Stable-Baselines3
-----------------

-  Training an agent with
   `Stable-Baselines3 <https://stable-baselines3.readthedocs.io/en/master/index.html>`__
   on ``Isaac-Velocity-Flat-Unitree-A1-v0``:

   .. tab-set::
      :sync-group: os

      .. tab-item:: :icon:`fa-brands fa-linux` Linux
         :sync: linux

         .. code:: bash

            # install python module (for stable-baselines3)
            ./isaaclab.sh -i sb3
            # run script for training
            ./isaaclab.sh -p scripts/reinforcement_learning/sb3/train.py --task Isaac-Velocity-Flat-Unitree-A1-v0 --headless
            # run script for playing with 32 environments
            ./isaaclab.sh -p scripts/reinforcement_learning/sb3/play.py --task Isaac-Velocity-Flat-Unitree-A1-v0 --num_envs 32 --checkpoint /PATH/TO/model.zip
            # run script for playing a pre-trained checkpoint with 32 environments
            ./isaaclab.sh -p scripts/reinforcement_learning/sb3/play.py --task Isaac-Velocity-Flat-Unitree-A1-v0 --num_envs 32 --use_pretrained_checkpoint
            # run script for recording video of a trained agent (requires installing `ffmpeg`)
            ./isaaclab.sh -p scripts/reinforcement_learning/sb3/play.py --task Isaac-Velocity-Flat-Unitree-A1-v0 --headless --video --video_length 200

      .. tab-item:: :icon:`fa-brands fa-windows` Windows
         :sync: windows

         .. code:: batch

            :: install python module (for stable-baselines3)
            isaaclab.bat -i sb3
            :: run script for training
            isaaclab.bat -p scripts\reinforcement_learning\sb3\train.py --task Isaac-Velocity-Flat-Unitree-A1-v0 --headless
            :: run script for playing with 32 environments
            isaaclab.bat -p scripts\reinforcement_learning\sb3\play.py --task Isaac-Velocity-Flat-Unitree-A1-v0 --num_envs 32 --checkpoint /PATH/TO/model.zip
            :: run script for playing a pre-trained checkpoint with 32 environments
            isaaclab.bat -p scripts\reinforcement_learning\sb3\play.py --task Isaac-Velocity-Flat-Unitree-A1-v0 --num_envs 32 --use_pretrained_checkpoint
            :: run script for recording video of a trained agent (requires installing `ffmpeg`)
            isaaclab.bat -p scripts\reinforcement_learning\sb3\play.py --task Isaac-Velocity-Flat-Unitree-A1-v0 --headless --video --video_length 200

All the scripts above log the training progress to `Tensorboard`_ in the ``logs`` directory in the root of
the repository. The logs directory follows the pattern ``logs/<library>/<task>/<date-time>``, where ``<library>``
is the name of the learning framework, ``<task>`` is the task name, and ``<date-time>`` is the timestamp at
which the training script was executed.

To view the logs, run:

.. tab-set::
   :sync-group: os

   .. tab-item:: :icon:`fa-brands fa-linux` Linux
      :sync: linux

      .. code:: bash

         # execute from the root directory of the repository
         ./isaaclab.sh -p -m tensorboard.main --logdir=logs

   .. tab-item:: :icon:`fa-brands fa-windows` Windows
      :sync: windows

      .. code:: batch

         :: execute from the root directory of the repository
         isaaclab.bat -p -m tensorboard.main --logdir=logs

.. _Tensorboard: https://www.tensorflow.org/tensorboard
