Fixes video recording in training, unifies logs directory, and normalizes _HERE path

[louislelay]

While encountering the following error during training with --video:

ValueError: ('Render mode is None, which is incompatible with RecordVideo.', 
'Initialize your environment with a render_mode that returns an image, such as rgb_array.')

I corrected it by adding the same environment creation logic as in the play script, with a condition on the render_mode based on the video flag.

During this change, I noticed that the logs directory was being created at the same level as the train and play scripts. To stay consistent with Isaac Lab, I moved it to the root of the repository.

I also updated the way _HERE is created (see this explanation):

• previously it could be absolute or relative depending on how the script was called
• now it is always an absolute and normalized path using Path(__file__).resolve().parent

The same modifications were applied to the tracking play and train scripts, although I couldn’t test those as I don’t have a pretrained motion available

[louislelay]

Hey @kevinzakka, I’m running into a strange loop with the Ruff checks!

Locally everything looks clean after running Ruff + pre-commit:

$ uvx [email protected] check --fix .
All checks passed!

$ pre-commit run --all-files
ruff check...............................................................Passed
ruff format..............................................................Passed

But on the PR checks I consistently see errors like:

--- src/mjlab/tasks/tracking/rl/runner.py
+++ src/mjlab/tasks/tracking/rl/runner.py
@@ -1,9 +1,9 @@
 import os

+import wandb
 from rsl_rl.env.vec_env import VecEnv
 from rsl_rl.runners import OnPolicyRunner

-import wandb
 from mjlab.rl import RslRlVecEnvWrapper
...
Would fix 2 errors.
Error: Process completed with exit code 1.

So CI wants one import ordering, while pre-commit locally forces the opposite. When I try to commit what CI seems to want, the pre-commit hook refuses the commit and rewrites the file back:

$ git commit -m "formats to pass PR checks"
ruff check...............................................................Failed
- hook id: ruff-check
- files were modified by this hook

After staging those changes and committing again, locally everything passes, but CI then fails again with the other version.

Not sure if this is a config/version mismatch between pre-commit and CI, or something wrong in my PR itself. Maybe you already know what’s going on here and can point me in the right direction so I can get the PR checks to pass.

[kevinzakka]

@louislelay Delete the wandb directory in the src directory and it will fix the ruff issue :)

[louislelay]

Thank you @kevinzakka! 😆