✨ update urdf and dependencies

train.py

@@ -1,4 +1,8 @@
+import pathlib
+
 import hydra
+import hydra.utils as hydra_utils
+import structlog
 from clearml import Task
 from hydra.core.hydra_config import HydraConfig
 from omegaconf import DictConfig, OmegaConf
@@ -9,6 +13,8 @@ from src.envs.rotary_cartpole import RotaryCartPoleEnv, RotaryCartPoleConfig
 from src.runners.mujoco import MuJoCoRunner, MuJoCoRunnerConfig
 from src.training.trainer import Trainer, TrainerConfig
 
+logger = structlog.get_logger()
+
 # ── env registry ──────────────────────────────────────────────────────
 # Maps Hydra config-group name → (EnvClass, ConfigClass)
 ENV_REGISTRY: dict[str, tuple[type[BaseEnv], type[BaseEnvConfig]]] = {
@@ -52,9 +58,15 @@ def _init_clearml(choices: dict[str, str], remote: bool = False) -> Task:
     tags = [env_name, runner_name, training_name]
 
     task = Task.init(project_name=project, task_name=task_name, tags=tags)
+    task.set_base_docker("registry.kube.optimize/worker-image:latest")
 
-    if remote:
-        task.execute_remotely(queue_name="default")
+    req_file = pathlib.Path(hydra_utils.get_original_cwd()) / "requirements.txt"
+    task.set_packages(str(req_file))
+
+    # Execute remotely if requested and running locally
+    if remote and task.running_locally():
+        logger.info("executing_task_remotely", queue="gpu-queue")
+        task.execute_remotely(queue_name="gpu-queue", exit_process=True)
 
     return task