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tutorials

python source/standalone/tutorials/00_sim/spawn_prims.py python source/standalone/tutorials/00_sim/create_empty.py python source/standalone/tutorials/00_sim/launch_app.py

python source/standalone/tutorials/03_envs/create_cube_base_env.py --num_envs 8

python source/standalone/tutorials/01_assets/run_rigid_object.py python source/standalone/tutorials/01_assets/run_articulation.py

python source/standalone/tutorials/04_sensors/add_sensors_on_robot.py

python source/standalone/tutorials/04_sensors/add_sensors_on_robot.py python source/standalone/tutorials/04_sensors/run_ray_caster.py python source/standalone/tutorials/04_sensors/run_ray_caster_camera.py

demos

python source/standalone/demos/arms.py

quadcopter env set

python source/standalone/my_test/quadcopter_camera.py

python source/standalone/demos/quadcopter.py

python source/standalone/workflows/rl_games/train.py --task=Isaac-Franka-Cabinet-Direct-v0

Cartpole

python source/standalone/workflows/rl_games/train.py --task=Isaac-Cartpole-Direct-v0 python source/standalone/workflows/rl_games/train.py --task=Isaac-Cartpole-RGB-Camera-Direct-v0 --headless --enable_cameras --video

python source/standalone/workflows/rl_games/play.py --task=Isaac-Cartpole-RGB-Camera-Direct-v0 --checkpoint logs/rl_games/cartpole_camera_direct/2024-06-06_11-01-07/nn/cartpole_camera_direct.pth

python -m tensorboard.main --logdir logs/rl_games/cartpole_camera_direct

Jetbot

python source/standalone/workflows/rl_games/train.py --task=Isaac-Jetbot-Direct-v0

无人机

python source/standalone/workflows/rl_games/train.py --task=Isaac-Quadcopter-Direct-v0 python source/standalone/workflows/rl_games/train.py --task=Isaac-Quadcopter-Direct-v0 --checkpoint=

python source/standalone/workflows/rl_games/play.py --task=Isaac-Quadcopter-Direct-v0 python -m tensorboard.main --logdir logs/rl_games/quadcopter_direct/2024-06-05_19-17-12 python -m tensorboard.main --logdir logs/rsl_rl/quadcopter_direct/2024-06-20_15-53-02

python source/standalone/workflows/rsl_rl/train.py --task=Isaac-Quadcopter-Direct-v0 --headless

python source/standalone/workflows/rsl_rl/play.py --task=Isaac-Quadcopter-Direct-v0 --checkpoint=model_11600.pt --num_envs=2 python source/standalone/workflows/rsl_rl/play.py --task=Isaac-Quadcopter-Direct-play-v0 --headless --checkpoint model_11600.pt

python source/standalone/workflows/sb3/train.py --task=Isaac-Quadcopter-Direct-v0 --headless

平滑控制版本

python source/standalone/workflows/rsl_rl/train.py --task=Isaac-Quadcopter-Smooth-v0 --headless

带IMU

python source/standalone/workflows/rsl_rl/train.py --task=Isaac-Quadcopter-IMU-v0 --headless

带摄像头

python source/standalone/workflows/rl_games/train.py --task=Isaac-Quadcopter-RGB-Camera-Direct-v0 --headless --enable_cameras --video python -m tensorboard.main --logdir logs/rl_games/quadcopter_direct_camera/2024-06-09_07-56-25

python source/standalone/workflows/rl_games/play.py --task=Isaac-Quadcopter-RGB-Camera-Direct-v0 --checkpoint logs\rl_games\quadcopter_direct_camera\2024-06-12_09-46-08\nn\quadcopter_direct_camera.pth

python source/standalone/workflows/sb3/train.py --task=Isaac-Quadcopter-Direct-v0

视觉避障 1.0

python source/standalone/workflows/sb3/train.py --task=Isaac-Quadcopter-RGB-Camera-Direct-v0 --headless --enable_cameras python -m tensorboard.main --logdir logs/sb3/Isaac-Quadcopter-Direct-v0/2024-06-24_11-45-43

视觉避障 2.0

python source/standalone/workflows/sb3/train.py --task=Isaac-Quadcopter-Vision-OA-v0 --enable_cameras python source/standalone/workflows/sb3/train.py --task=Isaac-Quadcopter-Vision-OA-v0 --headless --enable_cameras --video

python -m tensorboard.main --logdir logs/sb3/Isaac-Quadcopter-Direct-v0/2024-06-24_11-45-43 python -m tensorboard.main --logdir logs/sb3/Isaac-Quadcopter-RGB-Camera-Direct-v0/2024-06-24_16-35-21

视觉避障 3.0

python source/standalone/workflows/rsl_rl/train.py --task=Isaac-Quadcopter-Vision-Depth-v0 --headless --enable_cameras

人形机器人

python source/standalone/workflows/rsl_rl/train.py --task=Isaac-Humanoid-Direct-v0

Test

Test contact_sensor

python source\extensions\omni.isaac.lab\test\sensors\test_contact_sensor.py

Test Imu sensor

python source\extensions\omni.isaac.lab\test\sensors\test_imu.py python source\extensions\omni.isaac.lab\test\sensors\check_imu_sensor.py python source/standalone/tutorials/06_ros/imu_sensor_to_ros.py

lifelong_slam

python .\source\standalone\lidar_slam\play.py --task=Isaac-Quadcopter-Direct-Lidar-v0 --load_run 2024-10-22_13-08-21 --checkpoint model_1000.pt

修改意见

_isaac_sim\exts\omni.isaac.sensor\omni\isaac\sensor\scripts\menu.py data = json.load(open(d + "/" + file))

with open(d + "/" + file, 'r', encoding='utf-8') as f: data = json.load(f)

isaac sim 4.2 版本后: data = json.load(open(os.path.join(d, file)))

改为: with open(os.path.join(d, file), encoding='utf-8') as f: data = json.load(f)

编队单点导航

python source/standalone/workflows/sb3/train.py --task=Isaac-Quadcopter-Form-v0 --headless python source/standalone/workflows/sb3/train_form_td3.py --task=Isaac-Quadcopter-Form-v0 --headless python source/standalone/workflows/rl_games/train.py --task=Isaac-Quadcopter-Form-v0 --headless python source/standalone/workflows/rsl_rl/train.py --task=Isaac-Quadcopter-Form-v0 --headless python source/standalone/workflows/skrl/train.py --task=Isaac-Quadcopter-Form-v0 --headless --max_iterations 1000000

python source/standalone/workflows/rsl_rl/play.py --task=Isaac-Quadcopter-Form-Play-v0 --checkpoint model_10000.pt

python -m tensorboard.main --logdir logs/skrl/quadcopter_form_direct/2024-07-25_09-13-04 python -m tensorboard.main --logdir logs/rsl_rl/quadcopter_form_direct/2024-07-31_20-04-06

python source/standalone/workflows/rsl_rl/train.py --task=Isaac-Quadcopter-Form-v0 --headless --resume True --load_run 2024-07-31_20-04-06 --checkpoint model_8600.pt

编队飞路径

python source/standalone/workflows/rsl_rl/train.py --task=Isaac-Quadcopter-Form-Path-v0 --headless

python source/standalone/workflows/rsl_rl/train.py --task=Isaac-Quadcopter-Form-Path-v0 --headless --resume True --load_run 2024-07-31_20-04-06 --checkpoint model_8600.pt

helps

./isaaclab.bat -p -m pip show skrl ./isaaclab.bat -p -m pip install -i https://pypi.tuna.tsinghua.edu.cn/simple --upgrade skrl