logging

main.py

@@ -13,7 +13,14 @@ from load_demonstrations import load_demonstrations
 import apple_gym.env
 import pickle
 from tqdm.auto import tqdm
+
+
 from loguru import logger
+from rich import logger.info
+from rich.logging import RichHandler
+logging.basicConfig(level=logging.INFO, handlers=[RichHandler(rich_tracebacks=True, markup=True)])
+logger.configure(handlers=[{"sink": RichHandler(markup=True),
+                         "format": "{message}"}])
 
 def get_args():
     parser = argparse.ArgumentParser(description='PyTorch Soft Actor-Critic Args')
@@ -71,6 +78,10 @@ logger.info(f'args {args}')
 env = gym.make(args.env_name, render=args.render)
 env.seed(args.seed)
 env.action_space.seed(args.seed)
+keys_to_monitor = ['env_reward/apple_pick/tree/min_fruit_dist_reward',
+    'env_reward/apple_pick/tree/gripping_fruit_reward',
+    'env_reward/apple_pick/tree/force_tree_reward',
+    'env_reward/apple_pick/tree/force_fruit_reward', 'env_obs/apple_pick/tree/picks']:
 
 torch.manual_seed(args.seed)
 np.random.seed(args.seed)
@@ -156,10 +167,7 @@ with tqdm(unit='steps', mininterval=5) as prog:
             if total_numsteps == 1:
                 logger.info(f'info {info.keys()}')
                 logger.debug(f'info {info}')
-            for k in ['env_reward/apple_pick/tree/min_fruit_dist_reward',
-    'env_reward/apple_pick/tree/gripping_fruit_reward',
-    'env_reward/apple_pick/tree/force_tree_reward',
-    'env_reward/apple_pick/tree/force_fruit_reward', 'env_obs/apple_pick/tree/picks']:
+            for k in keys_to_monitor:
                 writer.add_scalar(k, info[k], total_numsteps)
 
             # Ignore the "done" signal if it comes from hitting the time horizon.  (that is, when it's an artificial terminal signal that isn't based on the agent's state)
@@ -186,10 +194,7 @@ with tqdm(unit='steps', mininterval=5) as prog:
                     next_state, reward, done, _ = env.step(action)
                     episode_reward += reward
 
-                    for k in ['env_reward/apple_pick/tree/min_fruit_dist_reward',
-            'env_reward/apple_pick/tree/gripping_fruit_reward',
-            'env_reward/apple_pick/tree/force_tree_reward',
-            'env_reward/apple_pick/tree/force_fruit_reward', 'env_obs/apple_pick/tree/picks']:
+                    for k in keys_to_monitor:
                         writer.add_scalar('test/' + k, info[k], total_numsteps)
 
 
@@ -200,8 +205,6 @@ with tqdm(unit='steps', mininterval=5) as prog:
 
             writer.add_scalar('avg_reward/test', avg_reward, i_episode)
 
-            if args.train:
-                save(save_dir)
 
             logger.info("----------------------------------------")
             logger.info("Test Episodes: {}, Avg. Reward: {}".format(episodes, round(avg_reward, 2)))
@@ -210,7 +213,7 @@ with tqdm(unit='steps', mininterval=5) as prog:
         if total_numsteps >= args.num_steps:
             break
 
+        if args.train:
+            save(save_dir)
 
 env.close()
-# if args.train:
-#     save(save_dir)