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Args

• --exp_name EXP_NAME: Experiment name.

• --sub_exp_name SUB_EXP_NAME: Name of the sub-experiment to run or load, default is default.

• --run_name RUN_NAME: Name of the run, default is current time %Y-%m-%d_%H-%M-%S.

• --log_root：Path of log_root, default is engineai_rl_workspace/logs/{exp_name}/{sub_exp_name}.

• --load_run LOAD_RUN: Name of the run to load when resume=True, default is -1. If -1: will load the last run.

• --checkpoint CHECKPOINT: Saved model checkpoint number, default is -1. If -1: will load the last checkpoint.

• --num_envs NUM_ENVS: Number of environments to create.

• --seed SEED: Random seed.

• --sim_device SIM_DEVICE: Device used by the simulator, (cpu, gpu, cuda:0, cuda:1 etc..), default is cuda:0.

• --rl_device RL_DEVICE: Device used by the RL algorithm, (cpu, gpu, cuda:0, cuda:1 etc..), default is cuda:0.

• --use_joystick: Use joystick in play mode.

• --joystick_scale: Scale of joystick, only useful when use_joystick is True.

• --video: Record video during training. Headless mode also works.

• --record_length RECORD_LENGTH: The number of steps to record for videos, default is 200.

• --record_interval RECORD_INTERVAL: The number of step as interval to record a video.

• --fps FPS: The fps of recorded videos, default is 50.

• --frame_size FRAME_SIZE: The size of recorded frame, default is (1280, 720).

• --camera_offset CAMERA_OFFSET: The offset of the video filming camera, default is (0, -2, 0).

• --camera_rotation CAMREA_ROTATION: The rotation of the video filming camera, default is (0, 0, 90).

• --env_idx_record ENV_IDX_RECORD: The env idx to record, default is 0.

• --actor_idx_record ACTOR_IDX_RECORD: The actor idx to record, default is 0.

• --rigid_body_idx_record RIGID_BODY_IDX_RECORD: The rigid_body idx to record, default is 0.

• --test_length TEST_LENGTH: Number of iteration for each tester, default is 500.

Examples

Play with a Tester

# default setting 
python engineai_rl_workspace/scripts/play.py --exp_name pm01_rough_ppo --load_run 2025-06-03_12-00-00 # custom test_length python engineai_rl_workspace/scripts/play.py --exp_name pm01_rough_ppo --load_run 2025-06-03_12-00-00 --test_length 500 # from a custom log root python engineai_rl_workspace/scripts/play.py --exp_name pm01_rough_ppo --log_root ~/server/engineai_rl_workspace/logs/pm01_rough_ppo/default --load_run 2025-06-03_12-00-00 # recording video python engineai_rl_workspace/scripts/play.py --exp_name pm01_rough_ppo --load_run 2025-06-03_12-00-00 --video # run with params overriden python engineai_rl_workspace/scripts/play.py --exp_name pm01_rough_ppo --headless --num_envs 32 --seed 1

Play with Joystick

python engineai_rl_workspace/scripts/play.py --exp_name pm01_rough_ppo --load_run 2025-06-03_12-00-00 --use_joystick