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【机器人】01 强化学习、模仿学习和运动规划仿真平台ISAAC Lab安装与使用

article 2024/12/5 10:12:06

ISAAC Lab 是 NVIDIA 提供的一个 GPU 加速的开源框架，专为简化机器人研究工作流程而设计，特别是在强化学习、模仿学习和运动规划等领域。

它基于 NVIDIA 的 ISAAC Sim 构建，结合了高精度的物理和传感器仿真，成为了从仿真到现实应用的理想选择。

本文会分享ISAAC Lab的安装和使用，通过conda和pip进行安装的，适用于windows系统，带大家规避一些坑。

1、认识ISAAC Lab

2、安装ISAAC Sim

3、简单测试ISAAC Sim

4、安装ISAAC Lab

5、测试ISAAC Lab是否安装成功

6、案例：生成不同的四足机器人

1、认识ISAAC Lab

ISAAC Lab 提供了一套比较全面的工具和环境，包含了各种机器人模型、训练环境、物理仿真和传感器仿真。

机器人模型 Isaac Lab 提供 16 种常用的机器人模型，包括机械手、四足动物和类人机器人，满足不同的研究需求。
训练环境 提供 30 多个即用型训练环境，支持使用 RSL RL、SKRL、RL Games 和 Stable Baselines 等流行的强化学习框架进行训练，同时支持多智能体强化学习。
物理仿真 支持刚体、铰接系统和可变形物体的仿真，确保机器人在与环境互动时具有真实的物理表现。
传感器仿真 提供多种传感器仿真，包括 RGB 摄像头、深度摄像头、IMU、接触传感器等，帮助机器人更好地感知环境。

代码开源地址：https://github.com/isaac-sim/IsaacLab

官方指导文档：https://isaac-sim.github.io/IsaacLab/main/source/setup/ecosystem.html

目前已经支持超过16 个机器人，如上图所示。

经典机器人：Cartpole，类人生物，蚂蚁
机械臂：UR10、Franka、Allegro、Shadow Hand
四足动物： Anybotics Anymal-B， Anymal-C， Anymal-D， Unitree A1， Unitree Go1， Unitree Go2， Boston Dynamics Spot
人形机器人：Unitree H1、Unitree G1
四轴飞行器：Crazyflie

添加其他机器人，参考这里

2、安装ISAAC Sim

ISAAC Lab是基于NVIDIA的ISAAC Sim构建的，需要先安装Isaac Sim。

2.1、首先创建conda环境

conda create -n isaaclab python=3.10

2.2、进入isaaclab环境

conda activate isaaclab

2.3、接着安装torch 2.4.0

pip install torch==2.4.0 --index-url https://download.pytorch.org/whl/cu118

安装好后，可以检测一下能否正常导入，在终端输入python，，再输入import torch

问题：正常是会报错的：OSError：................... fbgemm.dll

分析：这是由于torch 2.4.0需要依赖fbgemm.dll库，但本地电脑没有就会报错了

解决方案：下载libomp140.x86_64.dll，然后放到C:\Windows\System32中

libomp140.x86_64.dll 下载地址

2.4、安装numpy 1.26.4

pip install numpy==1.26.4 -i https://pypi.tuna.tsinghua.edu.cn/simple

这时再检测能否正常导入torch，import torch，正常是没问题了。

2.5、更新一下pip

pip install --upgrade pip

2.6、开始安装Isaac Sim

pip install isaacsim==4.2.0.2 -i https://pypi.tuna.tsinghua.edu.cn/simple

这里我没有参考官网的，因为官方使用pypi.nvidia.com，太慢了；用清华源更快~

再安装一些依赖包

pip install isaacsim-rl isaacsim-replicator isaacsim-extscache-physics isaacsim-extscache-kit-sdk isaacsim-extscache-kit isaacsim-app -i https://pypi.tuna.tsinghua.edu.cn/simple

3、简单测试ISAAC Sim

输入下面命令，会打开一个黑色窗口的

isaacsim

首次运行 ISAAC Sim 时，将从注册表中提取所有依赖的扩展。 此过程可能需要 10 分钟以上，太慢了。

首次运行将提示用户接受 Nvidia Omniverse 许可协议，需要输入yes

By installing or using Isaac Sim, I agree to the terms of NVIDIA OMNIVERSE LICENSE AGREEMENT (EULA)
in https://docs.omniverse.nvidia.com/isaacsim/latest/common/NVIDIA_Omniverse_License_Agreement.html

Do you accept the EULA? (Yes/No): yes

看到打印下面信息：

还有显卡的情况

经过漫长的等待，终于看到kit Mini这个窗口啦

4、安装ISAAC Lab

下载ISAAC Lab的代码

git clone https://github.com/isaac-sim/IsaacLab.git

然后进入IsaacLab-main目录中，能看到 isaaclab.bat文件（后续经常使用这个文件的）

默认isaaclab.bat中安装东西时太慢了，下面是我修改了源码的，下载和安装东西时更快

可以参考使用，也可以用官方默认的

@echo off
setlocal EnableExtensions EnableDelayedExpansion

rem Copyright (c) 2022-2024, The Isaac Lab Project Developers.
rem All rights reserved.
rem
rem SPDX-License-Identifier: BSD-3-Clause

rem Configurations
set "ISAACLAB_PATH=%~dp0"
goto main

rem Helper functions

rem extract Isaac Sim directory
:extract_isaacsim_path
rem Use the sym-link path to Isaac Sim directory
set isaac_path=%ISAACLAB_PATH%\_isaac_sim
rem Check if directory exists
if not exist "%isaac_path%" (
    rem Find the Python executable
    call :extract_python_exe
    rem retrieve the isaacsim path from the installed package
    set "isaac_path="
    for /f "delims=" %%i in ('!python_exe! -c "import isaacsim; import os; print(os.environ['ISAAC_PATH'])"') do (
        if not defined isaac_path (
            set "isaac_path=%%i"
        )
    )
)
rem Check if the directory exists
if not exist "%isaac_path%" (
    echo [ERROR] Unable to find the Isaac Sim directory: %isaac_path%
    echo %tab%This could be due to the following reasons:
    echo %tab%1. Conda environment with Isaac Sim pip package is not activated.
    echo %tab%2. Isaac Sim directory is not available at the default path: %ISAACLAB_PATH%\_isaac_sim
    exit /b 1
)
goto :eof

rem extract the python from isaacsim
:extract_python_exe
rem check if using conda
if not "%CONDA_PREFIX%"=="" (
    rem use conda python
    set python_exe=%CONDA_PREFIX%\python.exe
) else (
    rem use kit python
    set python_exe=%ISAACLAB_PATH%\_isaac_sim\python.bat
)
rem check for if isaac sim was installed to system python
if not exist "%python_exe%" (
    set "python_exe="
    python -m pip show isaacsim-rl > nul 2>&1
    if %ERRORLEVEL% equ 0 (
        for /f "delims=" %%i in ('where python') do (
            if not defined python_exe (
                set "python_exe=%%i"
            )
        )
    )
)
if not exist "%python_exe%" (
    echo [ERROR] Unable to find any Python executable at path: %python_exe%
    echo %tab%This could be due to the following reasons:
    echo %tab%1. Conda environment is not activated.
    echo %tab%2. Python executable is not available at the default path: %ISAACLAB_PATH%\_isaac_sim\python.bat
    exit /b 1
)
goto :eof


rem extract the simulator exe from isaacsim
:extract_isaacsim_exe
call :extract_python_exe
call !python_exe! -m pip show isaacsim-rl > nul 2>&1
if errorlevel 1 (
    rem obtain isaacsim path
    call :extract_isaacsim_path
    rem python executable to use
    set isaacsim_exe=!isaac_path!\isaac-sim.bat
) else (
    rem if isaac sim installed from pip
    set isaacsim_exe=isaacsim omni.isaac.sim
)
rem check if there is a python path available
if not exist "%isaacsim_exe%" (
    echo [ERROR] No isaac-sim executable found at path: %isaacsim_exe%
    exit /b 1
)
goto :eof


rem check if input directory is a python extension and install the module
:install_isaaclab_extension
echo %ext_folder%
rem retrieve the python executable
call :extract_python_exe
rem if the directory contains setup.py then install the python module
if exist "%ext_folder%\setup.py" (
    echo     module: %ext_folder%
    call !python_exe! -m pip install --editable %ext_folder% -i https://pypi.tuna.tsinghua.edu.cn/simple
)
goto :eof


rem setup anaconda environment for Isaac Lab
:setup_conda_env
rem get environment name from input
set env_name=%conda_env_name%
rem check if conda is installed
where conda >nul 2>nul
if errorlevel 1 (
    echo [ERROR] Conda could not be found. Please install conda and try again.
    exit /b 1
)
rem check if the environment exists
call conda env list | findstr /c:"%env_name%" >nul
if %errorlevel% equ 0 (
    echo [INFO] Conda environment named '%env_name%' already exists.
) else (
    echo [INFO] Creating conda environment named '%env_name%'...
    call conda create -y --name %env_name% python=3.10
)
rem cache current paths for later
set "cache_pythonpath=%PYTHONPATH%"
set "cache_ld_library_path=%LD_LIBRARY_PATH%"
rem clear any existing files
echo %CONDA_PREFIX%
del "%CONDA_PREFIX%\etc\conda\activate.d\setenv.bat" 2>nul
del "%CONDA_PREFIX%\etc\conda\deactivate.d\unsetenv.bat" 2>nul
rem activate the environment
call conda activate %env_name%
rem setup directories to load isaac-sim variables
mkdir "%CONDA_PREFIX%\etc\conda\activate.d" 2>nul
mkdir "%CONDA_PREFIX%\etc\conda\deactivate.d" 2>nul

rem obtain isaacsim path
call :extract_isaacsim_path
if exist "%isaac_path%" (
    rem add variables to environment during activation
    (
        echo @echo off
        echo rem for isaac-sim
        echo set "RESOURCE_NAME=IsaacSim"
        echo set CARB_APP_PATH=!isaac_path!\kit
        echo set EXP_PATH=!isaac_path!\apps
        echo set ISAAC_PATH=!isaac_path!
        echo set PYTHONPATH=%PYTHONPATH%;!isaac_path!\site
        echo.
        echo rem for isaac-lab
        echo doskey isaaclab=isaaclab.bat $*
    ) > "%CONDA_PREFIX%\etc\conda\activate.d\env_vars.bat"
    (
        echo $env:CARB_APP_PATH="!isaac_path!\kit"
        echo $env:EXP_PATH="!isaac_path!\apps"
        echo $env:ISAAC_PATH="!isaac_path!"
        echo $env:PYTHONPATH="%PYTHONPATH%;!isaac_path!\site"
        echo $env:RESOURCE_NAME="IsaacSim"
    ) > "%CONDA_PREFIX%\etc\conda\activate.d\env_vars.ps1"
) else (
    rem assume isaac sim will be installed from pip
    rem add variables to environment during activation
    (
        echo @echo off
        echo rem for isaac-sim
        echo set "RESOURCE_NAME=IsaacSim"
        echo.
        echo rem for isaac-lab
        echo doskey isaaclab=isaaclab.bat $*
    ) > "%CONDA_PREFIX%\etc\conda\activate.d\env_vars.bat"
    (
        echo $env:RESOURCE_NAME="IsaacSim"
    ) > "%CONDA_PREFIX%\etc\conda\activate.d\env_vars.ps1"
)

rem reactivate the environment to load the variables
call conda activate %env_name%

rem remove variables from environment during deactivation
(
    echo @echo off
    echo rem for isaac-sim
    echo set "CARB_APP_PATH="
    echo set "EXP_PATH="
    echo set "ISAAC_PATH="
    echo set "RESOURCE_NAME="
    echo.
    echo rem for isaac-lab
    echo doskey isaaclab =
    echo.
    echo rem restore paths
    echo set "PYTHONPATH=%cache_pythonpath%"
    echo set "LD_LIBRARY_PATH=%cache_ld_library_path%"
) > "%CONDA_PREFIX%\etc\conda\deactivate.d\unsetenv_vars.bat"
(
    echo $env:RESOURCE_NAME=""
    echo $env:PYTHONPATH="%cache_pythonpath%"
    echo $env:LD_LIBRARY_PATH="%cache_pythonpath%"
) > "%CONDA_PREFIX%\etc\conda\deactivate.d\unsetenv_vars.ps1"

rem install some extra dependencies
echo [INFO] Installing extra dependencies (this might take a few minutes)...
call conda install -c conda-forge -y importlib_metadata >nul 2>&1

rem deactivate the environment
call conda deactivate
rem add information to the user about alias
echo [INFO] Added 'isaaclab' alias to conda environment for 'isaaclab.bat' script.
echo [INFO] Created conda environment named '%env_name%'.
echo.
echo       1. To activate the environment, run:                conda activate %env_name%
echo       2. To install Isaac Lab extensions, run:            isaaclab -i
echo       3. To perform formatting, run:                      isaaclab -f
echo       4. To deactivate the environment, run:              conda deactivate
echo.
goto :eof


rem Update the vscode settings from template and Isaac Sim settings
:update_vscode_settings
echo [INFO] Setting up vscode settings...
rem Retrieve the python executable
call :extract_python_exe
rem Path to setup_vscode.py
set "setup_vscode_script=%ISAACLAB_PATH%\.vscode\tools\setup_vscode.py"
rem Check if the file exists before attempting to run it
if exist "%setup_vscode_script%" (
    call !python_exe! "%setup_vscode_script%"
) else (
    echo [WARNING] setup_vscode.py not found. Aborting vscode settings setup.
)
goto :eof


rem Print the usage description
:print_help
echo.
echo usage: %~nx0 [-h] [-i] [-f] [-p] [-s] [-v] [-d] [-c] -- Utility to manage extensions in Isaac Lab.
echo.
echo optional arguments:
echo     -h, --help           Display the help content.
echo     -i, --install [LIB]  Install the extensions inside Isaac Lab and learning frameworks as extra dependencies. Default is 'all'.
echo     -f, --format         Run pre-commit to format the code and check lints.
echo     -p, --python         Run the python executable (python.bat) provided by Isaac Sim.
echo     -s, --sim            Run the simulator executable (isaac-sim.bat) provided by Isaac Sim.
echo     -t, --test           Run all python unittest tests.
echo     -v, --vscode         Generate the VSCode settings file from template.
echo     -d, --docs           Build the documentation from source using sphinx.
echo     -c, --conda [NAME]   Create the conda environment for Isaac Lab. Default name is 'isaaclab'.
echo.
goto :eof


rem Main
:main

rem check argument provided
if "%~1"=="" (
    echo [Error] No arguments provided.
    call :print_help
    exit /b 1
)

rem pass the arguments
:loop
if "%~1"=="" goto :end
set "arg=%~1"

rem read the key
if "%arg%"=="-i" (
    rem install the python packages in omni.isaac.rl/source directory
    echo [INFO] Installing extensions inside the Isaac Lab repository...
    call :extract_python_exe
    for /d %%d in ("%ISAACLAB_PATH%\source\extensions\*") do (
        set ext_folder="%%d"
        call :install_isaaclab_extension
    )
    rem install the python packages for supported reinforcement learning frameworks
    echo [INFO] Installing extra requirements such as learning frameworks...
    if "%~2"=="" (
        echo [INFO] Installing all rl-frameworks.
        set framework_name=all
    ) else if "%~2"=="none" (
        echo [INFO]  No rl-framework will be installed.
        set framework_name=none
        shift
    ) else (
        echo [INFO] Installing rl-framework: %2.
        set framework_name=%2
        shift
    )
    rem install the rl-frameworks specified
    call !python_exe! -m pip install -e %ISAACLAB_PATH%\source\extensions\omni.isaac.lab_tasks[!framework_name!] -i https://pypi.tuna.tsinghua.edu.cn/simple
    shift
) else if "%arg%"=="--install" (
    rem install the python packages in omni.isaac.rl/source directory
    echo [INFO] Installing extensions inside the Isaac Lab repository...
    call :extract_python_exe
    for /d %%d in ("%ISAACLAB_PATH%\source\extensions\*") do (
        set ext_folder="%%d"
        call :install_isaaclab_extension
    )
    rem install the python packages for supported reinforcement learning frameworks
    echo [INFO] Installing extra requirements such as learning frameworks...
    if "%~2"=="" (
        echo [INFO] Installing all rl-frameworks.
        set framework_name=all
    ) else if "%~2"=="none" (
        echo [INFO]  No rl-framework will be installed.
        set framework_name=none
        shift
    ) else (
        echo [INFO] Installing rl-framework: %2.
        set framework_name=%2
        shift
    )
    rem install the rl-frameworks specified
    call !python_exe! -m pip install -e %ISAACLAB_PATH%\source\extensions\omni.isaac.lab_tasks[!framework_name!] -i https://pypi.tuna.tsinghua.edu.cn/simple
    rem update the vscode settings
    rem once we have a docker container, we need to disable vscode settings
    call :update_vscode_settings
    shift
) else if "%arg%"=="-c" (
    rem use default name if not provided
    if not "%~2"=="" (
        echo [INFO] Using conda environment name: %2
        set conda_env_name=%2
        shift
    ) else (
        echo [INFO] Using default conda environment name: isaaclab
        set conda_env_name=isaaclab
    )
    call :setup_conda_env %conda_env_name%
    shift
) else if "%arg%"=="--conda" (
    rem use default name if not provided
    if not "%~2"=="" (
        echo [INFO] Using conda environment name: %2
        set conda_env_name=%2
        shift
    ) else (
        echo [INFO] Using default conda environment name: isaaclab
        set conda_env_name=isaaclab
    )
    call :setup_conda_env %conda_env_name%
    shift
) else if "%arg%"=="-f" (
    rem reset the python path to avoid conflicts with pre-commit
    rem this is needed because the pre-commit hooks are installed in a separate virtual environment
    rem and it uses the system python to run the hooks
    if not "%CONDA_DEFAULT_ENV%"=="" (
        set cache_pythonpath=%PYTHONPATH%
        set PYTHONPATH=
    )

    rem run the formatter over the repository
    rem check if pre-commit is installed
    pip show pre-commit > nul 2>&1
    if errorlevel 1 (
        echo [INFO] Installing pre-commit...
        pip install pre-commit -i https://pypi.tuna.tsinghua.edu.cn/simple
    )

    rem always execute inside the Isaac Lab directory
    echo [INFO] Formatting the repository...
    pushd %ISAACLAB_PATH%
    call python -m pre_commit run --all-files
    popd >nul

    rem set the python path back to the original value
    if not "%CONDA_DEFAULT_ENV%"=="" (
        set PYTHONPATH=%cache_pythonpath%
    )
    goto :end
) else if "%arg%"=="--format" (
    rem reset the python path to avoid conflicts with pre-commit
    rem this is needed because the pre-commit hooks are installed in a separate virtual environment
    rem and it uses the system python to run the hooks
    if not "%CONDA_DEFAULT_ENV%"=="" (
        set cache_pythonpath=%PYTHONPATH%
        set PYTHONPATH=
    )

    rem run the formatter over the repository
    rem check if pre-commit is installed
    pip show pre-commit > nul 2>&1
    if errorlevel 1 (
        echo [INFO] Installing pre-commit...
        pip install pre-commit -i https://pypi.tuna.tsinghua.edu.cn/simple
    )

    rem always execute inside the Isaac Lab directory
    echo [INFO] Formatting the repository...
    pushd %ISAACLAB_PATH%
    call python -m pre_commit run --all-files
    popd >nul

    rem set the python path back to the original value
    if not "%CONDA_DEFAULT_ENV%"=="" (
        set PYTHONPATH=%cache_pythonpath%
    )
    goto :end
) else if "%arg%"=="-p" (
    rem run the python provided by Isaac Sim
    call :extract_python_exe
    echo [INFO] Using python from: !python_exe!
    REM Loop through all arguments - mimic shift
    set "allArgs="
    for %%a in (%*) do (
        REM Append each argument to the variable, skip the first one
        if defined skip (
            set "allArgs=!allArgs! %%a"
        ) else (
            set "skip=1"
        )
    )
    !python_exe! !allArgs!
    goto :end
) else if "%arg%"=="--python" (
    rem run the python provided by Isaac Sim
    call :extract_python_exe
    echo [INFO] Using python from: !python_exe!
    REM Loop through all arguments - mimic shift
    set "allArgs="
    for %%a in (%*) do (
        REM Append each argument to the variable, skip the first one
        if defined skip (
            set "allArgs=!allArgs! %%a"
        ) else (
            set "skip=1"
        )
    )
    !python_exe! !allArgs!
    goto :end
) else if "%arg%"=="-s" (
    rem run the simulator exe provided by isaacsim
    call :extract_isaacsim_exe
    echo [INFO] Running isaac-sim from: !isaacsim_exe!
    set "allArgs="
    for %%a in (%*) do (
        REM Append each argument to the variable, skip the first one
        if defined skip (
            set "allArgs=!allArgs! %%a"
        ) else (
            set "skip=1"
        )
    )
    !isaacsim_exe! --ext-folder %ISAACLAB_PATH%\source\extensions !allArgs1
    goto :end
) else if "%arg%"=="--sim" (
    rem run the simulator exe provided by Isaac Sim
    call :extract_isaacsim_exe
    echo [INFO] Running isaac-sim from: !isaacsim_exe!
    set "allArgs="
    for %%a in (%*) do (
        REM Append each argument to the variable, skip the first one
        if defined skip (
            set "allArgs=!allArgs! %%a"
        ) else (
            set "skip=1"
        )
    )
    !isaacsim_exe! --ext-folder %ISAACLAB_PATH%\source\extensions !allArgs1
    goto :end
) else if "%arg%"=="-t" (
    rem run the python provided by Isaac Sim
    call :extract_python_exe
    set "allArgs="
    for %%a in (%*) do (
        REM Append each argument to the variable, skip the first one
        if defined skip (
            set "allArgs=!allArgs! %%a"
        ) else (
            set "skip=1"
        )
    )
    !python_exe! tools\run_all_tests.py !allArgs!
    goto :end
) else if "%arg%"=="--test" (
    rem run the python provided by Isaac Sim
    call :extract_python_exe
    set "allArgs="
    for %%a in (%*) do (
        REM Append each argument to the variable, skip the first one
        if defined skip (
            set "allArgs=!allArgs! %%a"
        ) else (
            set "skip=1"
        )
    )
    !python_exe! tools\run_all_tests.py !allArgs!
    goto :end
) else if "%arg%"=="-v" (
    rem update the vscode settings
    call :update_vscode_settings
    shift
    goto :end
) else if "%arg%"=="--vscode" (
    rem update the vscode settings
    call :update_vscode_settings
    shift
    goto :end
) else if "%arg%"=="-d" (
    rem build the documentation
    echo [INFO] Building documentation...
    call :extract_python_exe
    pushd %ISAACLAB_PATH%\docs
    call !python_exe! -m pip install -r requirements.txt  -i https://pypi.tuna.tsinghua.edu.cn/simple
    call !python_exe! -m sphinx -b html -d _build\doctrees . _build\html
    echo [INFO] To open documentation on default browser, run:
    echo xdg-open "%ISAACLAB_PATH%\docs\_build\html\index.html"
    popd >nul
    shift
    goto :end
) else if "%arg%"=="--docs" (
    rem build the documentation
    echo [INFO] Building documentation...
    call :extract_python_exe
    pushd %ISAACLAB_PATH%\docs
    call !python_exe! -m pip install -r requirements.txt  -i https://pypi.tuna.tsinghua.edu.cn/simple
    call !python_exe! -m sphinx -b html -d _build\doctrees . _build\current
    echo [INFO] To open documentation on default browser, run:
    echo xdg-open "%ISAACLAB_PATH%\docs\_build\current\index.html"
    popd >nul
    shift
    goto :end
) else if "%arg%"=="-h" (
    call :print_help
    goto :end
) else if "%arg%"=="--help" (
    call :print_help
    goto :end
) else (
    echo Invalid argument provided: %arg%
    call :print_help
    exit /b 1
)
goto loop

:end
exit /b 0

查看 isaaclab.bat 的使用方式，输入.\isaaclab.bat --help

(isaaclab) PS D:\2024\project\IsaacLab-main>
(isaaclab) PS D:\2024\project\IsaacLab-main> .\isaaclab.bat --help

usage: isaaclab.bat [-h] [-i] [-f] [-p] [-s] [-v] [-d] [-c] -- Utility to manage extensions in Isaac Lab.

optional arguments:
-h, --help Display the help content.
-i, --install [LIB] Install the extensions inside Isaac Lab and learning frameworks as extra dependencies. Default is 'all'.
-f, --format Run pre-commit to format the code and check lints.
-p, --python Run the python executable (python.bat) provided by Isaac Sim.
-s, --sim Run the simulator executable (isaac-sim.bat) provided by Isaac Sim.
-t, --test Run all python unittest tests.
-v, --vscode Generate the VSCode settings file from template.
-d, --docs Build the documentation from source using sphinx.
-c, --conda [NAME] Create the conda environment for Isaac Lab. Default name is 'isaaclab'.

(isaaclab) PS D:\2024\project\IsaacLab-main>

然后安装ISAAC Lab，这里有两种方式；

方式1：默认完整版

.\isaaclab.bat --install :: or "isaaclab.bat -i"

默认情况下，这将安装所有学习框架

这个方式大概率会报错，但不影响基本使用，先不管了

Building wheels for collected packages: omni-isaac-lab_tasks
  Building editable for omni-isaac-lab_tasks (pyproject.toml) ... done
  Created wheel for omni-isaac-lab_tasks: filename=omni_isaac_lab_tasks-0.10.13-0.editable-py3-none-any.whl size=3640 sha256=52d4aa52691354e4437813125cb7e91333fb9d6eaa99af4fa1b86a30daef7efe
  Stored in directory: C:\Users\Administrator\AppData\Local\Temp\pip-ephem-wheel-cache-5f9mh9wj\wheels\2b\14\1f\9435ad243a14599ab9b4defd2f8e13254e2e390ed93098a57f
Successfully built omni-isaac-lab_tasks
Installing collected packages: omni-isaac-lab_tasks
  Attempting uninstall: omni-isaac-lab_tasks
    Found existing installation: omni-isaac-lab_tasks 0.10.13
    Uninstalling omni-isaac-lab_tasks-0.10.13:
      Successfully uninstalled omni-isaac-lab_tasks-0.10.13
Successfully installed omni-isaac-lab_tasks-0.10.13
[INFO] Installing extra requirements such as learning frameworks...
[INFO] Installing rl-framework: ::.
ERROR: Exception:
Traceback (most recent call last):
  File "D:\ProgramData\anaconda3\envs\isaaclab\lib\site-packages\pip\_vendor\packaging\requirements.py", line 36, in __init__
    parsed = _parse_requirement(requirement_string)
  File "D:\ProgramData\anaconda3\envs\isaaclab\lib\site-packages\pip\_vendor\packaging\_parser.py", line 62, in parse_requirement
    return _parse_requirement(Tokenizer(source, rules=DEFAULT_RULES))
  File "D:\ProgramData\anaconda3\envs\isaaclab\lib\site-packages\pip\_vendor\packaging\_parser.py", line 77, in _parse_requirement
    extras = _parse_extras(tokenizer)
  File "D:\ProgramData\anaconda3\envs\isaaclab\lib\site-packages\pip\_vendor\packaging\_parser.py", line 164, in _parse_extras
    with tokenizer.enclosing_tokens(
  File "D:\ProgramData\anaconda3\envs\isaaclab\lib\contextlib.py", line 142, in __exit__
    next(self.gen)
  File "D:\ProgramData\anaconda3\envs\isaaclab\lib\site-packages\pip\_vendor\packaging\_tokenizer.py", line 189, in enclosing_tokens
    self.raise_syntax_error(
  File "D:\ProgramData\anaconda3\envs\isaaclab\lib\site-packages\pip\_vendor\packaging\_tokenizer.py", line 167, in raise_syntax_error
    raise ParserSyntaxError(
pip._vendor.packaging._tokenizer.ParserSyntaxError: Expected matching RIGHT_BRACKET for LEFT_BRACKET, after extras
    placeholder[::]
               ~^

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "D:\ProgramData\anaconda3\envs\isaaclab\lib\site-packages\pip\_internal\cli\base_command.py", line 105, in _run_wrapper
    status = _inner_run()
  File "D:\ProgramData\anaconda3\envs\isaaclab\lib\site-packages\pip\_internal\cli\base_command.py", line 96, in _inner_run
    return self.run(options, args)
  File "D:\ProgramData\anaconda3\envs\isaaclab\lib\site-packages\pip\_internal\cli\req_command.py", line 67, in wrapper
    return func(self, options, args)
  File "D:\ProgramData\anaconda3\envs\isaaclab\lib\site-packages\pip\_internal\commands\install.py", line 343, in run
    reqs = self.get_requirements(args, options, finder, session)
  File "D:\ProgramData\anaconda3\envs\isaaclab\lib\site-packages\pip\_internal\cli\req_command.py", line 244, in get_requirements
    req_to_add = install_req_from_editable(
  File "D:\ProgramData\anaconda3\envs\isaaclab\lib\site-packages\pip\_internal\req\constructors.py", line 235, in install_req_from_editable
    parts = parse_req_from_editable(editable_req)
  File "D:\ProgramData\anaconda3\envs\isaaclab\lib\site-packages\pip\_internal\req\constructors.py", line 204, in parse_req_from_editable
    name, url, extras_override = parse_editable(editable_req)
  File "D:\ProgramData\anaconda3\envs\isaaclab\lib\site-packages\pip\_internal\req\constructors.py", line 113, in parse_editable
    get_requirement("placeholder" + extras.lower()).extras,
  File "D:\ProgramData\anaconda3\envs\isaaclab\lib\site-packages\pip\_internal\utils\packaging.py", line 45, in get_requirement
    return Requirement(req_string)
  File "D:\ProgramData\anaconda3\envs\isaaclab\lib\site-packages\pip\_vendor\packaging\requirements.py", line 38, in __init__
    raise InvalidRequirement(str(e)) from e
pip._vendor.packaging.requirements.InvalidRequirement: Expected matching RIGHT_BRACKET for LEFT_BRACKET, after extras
    placeholder[::]
               ~^
[INFO] Setting up vscode settings...
[WARN] Could not find Isaac Sim VSCode settings: D:\ProgramData\anaconda3\envs\isaaclab\Lib\site-packages\isaacsim\.vscode\settings.json.
        This will result in missing 'python.analysis.extraPaths' in the VSCode
        settings, which limits the functionality of the Python language server.
        However, it does not affect the functionality of the Isaac Lab project.
        We are working on a fix for this issue with the Isaac Sim team.
Invalid argument provided: or

usage: isaaclab.bat [-h] [-i] [-f] [-p] [-s] [-v] [-d] [-c] -- Utility to manage extensions in Isaac Lab.

optional arguments:
    -h, --help           Display the help content.
    -i, --install [LIB]  Install the extensions inside Isaac Lab and learning frameworks as extra dependencies. Default is 'all'.
    -f, --format         Run pre-commit to format the code and check lints.
    -p, --python         Run the python executable (python.bat) provided by Isaac Sim.
    -s, --sim            Run the simulator executable (isaac-sim.bat) provided by Isaac Sim.
    -t, --test           Run all python unittest tests.
    -v, --vscode         Generate the VSCode settings file from template.
    -d, --docs           Build the documentation from source using sphinx.
    -c, --conda [NAME]   Create the conda environment for Isaac Lab. Default name is 'isaaclab'.

方式2：精简版

.\isaaclab.bat --install rl_games :: or "isaaclab.bat -i rl_games"

只想安装特定框架，则可以将框架的名称作为参数传递。

参数值：rl_games、rsl_rl、sb3、skrl、robomimic、none

安装成功后，如下图所示的：

5、测试ISAAC Lab是否安装成功

输入下面命令

.\isaaclab.bat -p source\standalone\tutorials\00_sim\create_empty.py

需要等待一会~

然后出现下面窗口，成功啦

6、案例：生成不同的四足机器人

输入下面命令

.\isaaclab.bat -p source\standalone\demos\quadrupeds.py

需要等待一会~

出现下面窗口，看到不同的四足机器人，成功啦

其他的功能也可以慢慢探索啦

分享完成~

后续会持续分析ISAAC Lab的内容，包括机器人的强化学习、模仿学习和运动规划实现仿真。

查看全文

http://www.kler.cn/a/421115.html

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华为项目管理之道

1、认识ISAAC Lab

2、安装ISAAC Sim

3、简单测试ISAAC Sim

4、安装ISAAC Lab

5、测试ISAAC Lab是否安装成功

6、案例：生成不同的四足机器人

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