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4090工作站代码

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hangX
2026-01-28 20:16:58 +08:00
parent 1f7053a306
commit 2a201d5bab
98 changed files with 9887 additions and 1063 deletions
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830
.vscode/tools/launch.template.json vendored
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@@ -4,822 +4,54 @@
// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
"version": "0.2.0",
"configurations": [
// For standalone script execution
{
"name": "Python: Current File",
"type": "debugpy",
"type": "python",
"request": "launch",
"program": "${file}",
"console": "integratedTerminal",
},
{
"name": "Python: Train Template-Mindbot-Direct-v0 with rl_games (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "4096", "--headless"],
"program": "${workspaceFolder}/scripts/rl_games/train.py",
"console": "integratedTerminal",
},
{
"name": "Python: Play Template-Mindbot-Direct-v0 with rl_games (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "32"],
"program": "${workspaceFolder}/scripts/rl_games/play.py",
"console": "integratedTerminal",
},
{
"name": "Python: Train Template-Mindbot-Direct-v0 with rsl_rl (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "4096", "--headless"],
"program": "${workspaceFolder}/scripts/rsl_rl/train.py",
"console": "integratedTerminal",
},
{
"name": "Python: Play Template-Mindbot-Direct-v0 with rsl_rl (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "32"],
"program": "${workspaceFolder}/scripts/rsl_rl/play.py",
"console": "integratedTerminal",
},
{
"name": "Python: Train Template-Mindbot-Direct-v0 with skrl (AMP)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "AMP"],
"program": "${workspaceFolder}/scripts/skrl/train.py",
"console": "integratedTerminal",
},
{
"name": "Python: Play Template-Mindbot-Direct-v0 with skrl (AMP)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "32", "--algorithm", "AMP"],
"program": "${workspaceFolder}/scripts/skrl/play.py",
"console": "integratedTerminal",
},
{
"name": "Python: Train Template-Mindbot-Direct-v0 with skrl (IPPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "IPPO"],
"program": "${workspaceFolder}/scripts/skrl/train.py",
"console": "integratedTerminal",
},
{
"name": "Python: Play Template-Mindbot-Direct-v0 with skrl (IPPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "32", "--algorithm", "IPPO"],
"program": "${workspaceFolder}/scripts/skrl/play.py",
"console": "integratedTerminal",
},
{
"name": "Python: Train Template-Mindbot-Direct-v0 with skrl (MAPPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "MAPPO"],
"program": "${workspaceFolder}/scripts/skrl/train.py",
"console": "integratedTerminal",
},
{
"name": "Python: Play Template-Mindbot-Direct-v0 with skrl (MAPPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "32", "--algorithm", "MAPPO"],
"program": "${workspaceFolder}/scripts/skrl/play.py",
"console": "integratedTerminal",
},
{
"name": "Python: Train Template-Mindbot-Direct-v0 with skrl (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "PPO"],
"program": "${workspaceFolder}/scripts/skrl/train.py",
"console": "integratedTerminal",
},
{
"name": "Python: Play Template-Mindbot-Direct-v0 with skrl (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "32", "--algorithm", "PPO"],
"program": "${workspaceFolder}/scripts/skrl/play.py",
"console": "integratedTerminal",
},
{
"name": "Python: Train Template-Mindbot-Direct-v0 with sb3 (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "4096", "--headless"],
"program": "${workspaceFolder}/scripts/sb3/train.py",
"console": "integratedTerminal",
},
{
"name": "Python: Play Template-Mindbot-Direct-v0 with sb3 (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "32"],
"program": "${workspaceFolder}/scripts/sb3/play.py",
"console": "integratedTerminal",
},
{
"name": "Python: Train Template-Mindbot-Marl-Direct-v0 with rl_games (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "4096", "--headless"],
"program": "${workspaceFolder}/scripts/rl_games/train.py",
"console": "integratedTerminal",
},
{
"name": "Python: Play Template-Mindbot-Marl-Direct-v0 with rl_games (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "32"],
"program": "${workspaceFolder}/scripts/rl_games/play.py",
"console": "integratedTerminal",
},
{
"name": "Python: Train Template-Mindbot-Marl-Direct-v0 with rsl_rl (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "4096", "--headless"],
"program": "${workspaceFolder}/scripts/rsl_rl/train.py",
"console": "integratedTerminal",
},
{
"name": "Python: Play Template-Mindbot-Marl-Direct-v0 with rsl_rl (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "32"],
"program": "${workspaceFolder}/scripts/rsl_rl/play.py",
"console": "integratedTerminal",
},
{
"name": "Python: Train Template-Mindbot-Marl-Direct-v0 with skrl (AMP)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "AMP"],
"program": "${workspaceFolder}/scripts/skrl/train.py",
"console": "integratedTerminal",
},
{
"name": "Python: Play Template-Mindbot-Marl-Direct-v0 with skrl (AMP)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "32", "--algorithm", "AMP"],
"program": "${workspaceFolder}/scripts/skrl/play.py",
"console": "integratedTerminal",
},
{
"name": "Python: Train Template-Mindbot-Marl-Direct-v0 with skrl (IPPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "IPPO"],
"program": "${workspaceFolder}/scripts/skrl/train.py",
"console": "integratedTerminal",
},
{
"name": "Python: Play Template-Mindbot-Marl-Direct-v0 with skrl (IPPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "32", "--algorithm", "IPPO"],
"program": "${workspaceFolder}/scripts/skrl/play.py",
"console": "integratedTerminal",
},
{
"name": "Python: Train Template-Mindbot-Marl-Direct-v0 with skrl (MAPPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "MAPPO"],
"program": "${workspaceFolder}/scripts/skrl/train.py",
"console": "integratedTerminal",
},
{
"name": "Python: Play Template-Mindbot-Marl-Direct-v0 with skrl (MAPPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "32", "--algorithm", "MAPPO"],
"program": "${workspaceFolder}/scripts/skrl/play.py",
"console": "integratedTerminal",
},
{
"name": "Python: Train Template-Mindbot-Marl-Direct-v0 with skrl (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "PPO"],
"program": "${workspaceFolder}/scripts/skrl/train.py",
"console": "integratedTerminal",
},
{
"name": "Python: Play Template-Mindbot-Marl-Direct-v0 with skrl (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "32", "--algorithm", "PPO"],
"program": "${workspaceFolder}/scripts/skrl/play.py",
"console": "integratedTerminal",
},
{
"name": "Python: Train Template-Mindbot-Marl-Direct-v0 with sb3 (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "4096", "--headless"],
"program": "${workspaceFolder}/scripts/sb3/train.py",
"console": "integratedTerminal",
},
{
"name": "Python: Play Template-Mindbot-Marl-Direct-v0 with sb3 (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "32"],
"program": "${workspaceFolder}/scripts/sb3/play.py",
"console": "integratedTerminal",
},
{
"name": "Python: Train Template-Mindbot-v0 with rl_games (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-v0", "--num_envs", "4096", "--headless"],
"program": "${workspaceFolder}/scripts/rl_games/train.py",
"console": "integratedTerminal",
},
{
"name": "Python: Play Template-Mindbot-v0 with rl_games (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-v0", "--num_envs", "32"],
"program": "${workspaceFolder}/scripts/rl_games/play.py",
"console": "integratedTerminal",
},
{
"name": "Python: Train Template-Mindbot-v0 with rsl_rl (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-v0", "--num_envs", "4096", "--headless"],
"program": "${workspaceFolder}/scripts/rsl_rl/train.py",
"console": "integratedTerminal",
"console": "integratedTerminal"
},
{
"name": "Python: Play Template-Mindbot-v0 with rsl_rl (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-v0", "--num_envs", "32"],
"program": "${workspaceFolder}/scripts/rsl_rl/play.py",
"console": "integratedTerminal",
"name": "Python: Attach (windows-x86_64/linux-x86_64)",
"type": "python",
"request": "attach",
"port": 3000,
"host": "localhost"
},
{
"name": "Python: Train Template-Mindbot-v0 with skrl (AMP)",
"type": "debugpy",
"name": "Python: Train Environment",
"type": "python",
"request": "launch",
"args" : ["--task", "Template-Mindbot-v0", "--num_envs", "4096", "--headless", "--algorithm", "AMP"],
"program": "${workspaceFolder}/scripts/skrl/train.py",
"console": "integratedTerminal",
"args" : ["--task", "Isaac-Reach-Franka-v0", "--headless"],
"program": "${workspaceFolder}/scripts/reinforcement_learning/rsl_rl/train.py",
"console": "integratedTerminal"
},
{
"name": "Python: Play Template-Mindbot-v0 with skrl (AMP)",
"type": "debugpy",
"name": "Python: Play Environment",
"type": "python",
"request": "launch",
"args" : ["--task", "Template-Mindbot-v0", "--num_envs", "32", "--algorithm", "AMP"],
"program": "${workspaceFolder}/scripts/skrl/play.py",
"console": "integratedTerminal",
"args" : ["--task", "Isaac-Reach-Franka-v0", "--num_envs", "32"],
"program": "${workspaceFolder}/scripts/reinforcement_learning/rsl_rl/play.py",
"console": "integratedTerminal"
},
{
"name": "Python: Train Template-Mindbot-v0 with skrl (IPPO)",
"type": "debugpy",
"name": "Python: SinglePytest",
"type": "python",
"request": "launch",
"args" : ["--task", "Template-Mindbot-v0", "--num_envs", "4096", "--headless", "--algorithm", "IPPO"],
"program": "${workspaceFolder}/scripts/skrl/train.py",
"console": "integratedTerminal",
},
{
"name": "Python: Play Template-Mindbot-v0 with skrl (IPPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-v0", "--num_envs", "32", "--algorithm", "IPPO"],
"program": "${workspaceFolder}/scripts/skrl/play.py",
"console": "integratedTerminal",
"module": "pytest",
"args": [
"${file}"
],
"console": "integratedTerminal"
},
{
"name": "Python: Train Template-Mindbot-v0 with skrl (MAPPO)",
"type": "debugpy",
"name": "Python: ALL Pytest",
"type": "python",
"request": "launch",
"args" : ["--task", "Template-Mindbot-v0", "--num_envs", "4096", "--headless", "--algorithm", "MAPPO"],
"program": "${workspaceFolder}/scripts/skrl/train.py",
"module": "pytest",
"args": ["source/isaaclab/test"],
"console": "integratedTerminal",
},
{
"name": "Python: Play Template-Mindbot-v0 with skrl (MAPPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-v0", "--num_envs", "32", "--algorithm", "MAPPO"],
"program": "${workspaceFolder}/scripts/skrl/play.py",
"console": "integratedTerminal",
},
{
"name": "Python: Train Template-Mindbot-v0 with skrl (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-v0", "--num_envs", "4096", "--headless", "--algorithm", "PPO"],
"program": "${workspaceFolder}/scripts/skrl/train.py",
"console": "integratedTerminal",
},
{
"name": "Python: Play Template-Mindbot-v0 with skrl (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-v0", "--num_envs", "32", "--algorithm", "PPO"],
"program": "${workspaceFolder}/scripts/skrl/play.py",
"console": "integratedTerminal",
},
{
"name": "Python: Train Template-Mindbot-v0 with sb3 (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-v0", "--num_envs", "4096", "--headless"],
"program": "${workspaceFolder}/scripts/sb3/train.py",
"console": "integratedTerminal",
},
{
"name": "Python: Play Template-Mindbot-v0 with sb3 (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-v0", "--num_envs", "32"],
"program": "${workspaceFolder}/scripts/sb3/play.py",
"console": "integratedTerminal",
},
// For script execution inside a Docker
{
"name": "Docker: Current File",
"type": "debugpy",
"request": "launch",
"program": "${file}",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
}
},
{
"name": "Docker: Train Template-Mindbot-Direct-v0 with rl_games (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "4096", "--headless"],
"program": "${workspaceFolder}/scripts/rl_games/train.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Play Template-Mindbot-Direct-v0 with rl_games (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "32"],
"program": "${workspaceFolder}/scripts/rl_games/play.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Train Template-Mindbot-Direct-v0 with rsl_rl (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "4096", "--headless"],
"program": "${workspaceFolder}/scripts/rsl_rl/train.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Play Template-Mindbot-Direct-v0 with rsl_rl (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "32"],
"program": "${workspaceFolder}/scripts/rsl_rl/play.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Train Template-Mindbot-Direct-v0 with skrl (AMP)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "AMP"],
"program": "${workspaceFolder}/scripts/skrl/train.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Play Template-Mindbot-Direct-v0 with skrl (AMP)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "32", "--algorithm", "AMP"],
"program": "${workspaceFolder}/scripts/skrl/play.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Train Template-Mindbot-Direct-v0 with skrl (IPPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "IPPO"],
"program": "${workspaceFolder}/scripts/skrl/train.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Play Template-Mindbot-Direct-v0 with skrl (IPPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "32", "--algorithm", "IPPO"],
"program": "${workspaceFolder}/scripts/skrl/play.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Train Template-Mindbot-Direct-v0 with skrl (MAPPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "MAPPO"],
"program": "${workspaceFolder}/scripts/skrl/train.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Play Template-Mindbot-Direct-v0 with skrl (MAPPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "32", "--algorithm", "MAPPO"],
"program": "${workspaceFolder}/scripts/skrl/play.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Train Template-Mindbot-Direct-v0 with skrl (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "PPO"],
"program": "${workspaceFolder}/scripts/skrl/train.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Play Template-Mindbot-Direct-v0 with skrl (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "32", "--algorithm", "PPO"],
"program": "${workspaceFolder}/scripts/skrl/play.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Train Template-Mindbot-Direct-v0 with sb3 (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "4096", "--headless"],
"program": "${workspaceFolder}/scripts/sb3/train.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Play Template-Mindbot-Direct-v0 with sb3 (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "32"],
"program": "${workspaceFolder}/scripts/sb3/play.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Train Template-Mindbot-Marl-Direct-v0 with rl_games (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "4096", "--headless"],
"program": "${workspaceFolder}/scripts/rl_games/train.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Play Template-Mindbot-Marl-Direct-v0 with rl_games (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "32"],
"program": "${workspaceFolder}/scripts/rl_games/play.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Train Template-Mindbot-Marl-Direct-v0 with rsl_rl (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "4096", "--headless"],
"program": "${workspaceFolder}/scripts/rsl_rl/train.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Play Template-Mindbot-Marl-Direct-v0 with rsl_rl (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "32"],
"program": "${workspaceFolder}/scripts/rsl_rl/play.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Train Template-Mindbot-Marl-Direct-v0 with skrl (AMP)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "AMP"],
"program": "${workspaceFolder}/scripts/skrl/train.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Play Template-Mindbot-Marl-Direct-v0 with skrl (AMP)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "32", "--algorithm", "AMP"],
"program": "${workspaceFolder}/scripts/skrl/play.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Train Template-Mindbot-Marl-Direct-v0 with skrl (IPPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "IPPO"],
"program": "${workspaceFolder}/scripts/skrl/train.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Play Template-Mindbot-Marl-Direct-v0 with skrl (IPPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "32", "--algorithm", "IPPO"],
"program": "${workspaceFolder}/scripts/skrl/play.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Train Template-Mindbot-Marl-Direct-v0 with skrl (MAPPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "MAPPO"],
"program": "${workspaceFolder}/scripts/skrl/train.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Play Template-Mindbot-Marl-Direct-v0 with skrl (MAPPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "32", "--algorithm", "MAPPO"],
"program": "${workspaceFolder}/scripts/skrl/play.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Train Template-Mindbot-Marl-Direct-v0 with skrl (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "PPO"],
"program": "${workspaceFolder}/scripts/skrl/train.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Play Template-Mindbot-Marl-Direct-v0 with skrl (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "32", "--algorithm", "PPO"],
"program": "${workspaceFolder}/scripts/skrl/play.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Train Template-Mindbot-Marl-Direct-v0 with sb3 (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "4096", "--headless"],
"program": "${workspaceFolder}/scripts/sb3/train.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Play Template-Mindbot-Marl-Direct-v0 with sb3 (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "32"],
"program": "${workspaceFolder}/scripts/sb3/play.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Train Template-Mindbot-v0 with rl_games (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-v0", "--num_envs", "4096", "--headless"],
"program": "${workspaceFolder}/scripts/rl_games/train.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Play Template-Mindbot-v0 with rl_games (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-v0", "--num_envs", "32"],
"program": "${workspaceFolder}/scripts/rl_games/play.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Train Template-Mindbot-v0 with rsl_rl (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-v0", "--num_envs", "4096", "--headless"],
"program": "${workspaceFolder}/scripts/rsl_rl/train.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Play Template-Mindbot-v0 with rsl_rl (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-v0", "--num_envs", "32"],
"program": "${workspaceFolder}/scripts/rsl_rl/play.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Train Template-Mindbot-v0 with skrl (AMP)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-v0", "--num_envs", "4096", "--headless", "--algorithm", "AMP"],
"program": "${workspaceFolder}/scripts/skrl/train.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Play Template-Mindbot-v0 with skrl (AMP)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-v0", "--num_envs", "32", "--algorithm", "AMP"],
"program": "${workspaceFolder}/scripts/skrl/play.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Train Template-Mindbot-v0 with skrl (IPPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-v0", "--num_envs", "4096", "--headless", "--algorithm", "IPPO"],
"program": "${workspaceFolder}/scripts/skrl/train.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Play Template-Mindbot-v0 with skrl (IPPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-v0", "--num_envs", "32", "--algorithm", "IPPO"],
"program": "${workspaceFolder}/scripts/skrl/play.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Train Template-Mindbot-v0 with skrl (MAPPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-v0", "--num_envs", "4096", "--headless", "--algorithm", "MAPPO"],
"program": "${workspaceFolder}/scripts/skrl/train.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Play Template-Mindbot-v0 with skrl (MAPPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-v0", "--num_envs", "32", "--algorithm", "MAPPO"],
"program": "${workspaceFolder}/scripts/skrl/play.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Train Template-Mindbot-v0 with skrl (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-v0", "--num_envs", "4096", "--headless", "--algorithm", "PPO"],
"program": "${workspaceFolder}/scripts/skrl/train.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Play Template-Mindbot-v0 with skrl (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-v0", "--num_envs", "32", "--algorithm", "PPO"],
"program": "${workspaceFolder}/scripts/skrl/play.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Train Template-Mindbot-v0 with sb3 (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-v0", "--num_envs", "4096", "--headless"],
"program": "${workspaceFolder}/scripts/sb3/train.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
{
"name": "Docker: Play Template-Mindbot-v0 with sb3 (PPO)",
"type": "debugpy",
"request": "launch",
"args" : ["--task", "Template-Mindbot-v0", "--num_envs", "32"],
"program": "${workspaceFolder}/scripts/sb3/play.py",
"console": "integratedTerminal",
"env": {
"PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
},
},
"justMyCode": false
}
]
}
}

14
.vscode/tools/settings.template.json vendored
View File

@@ -1,4 +1,9 @@
{
"files.exclude": {
"**/.mypy_cache": true,
"**/__pycache__": true,
"**/*.egg-info": true
},
"files.associations": {
"*.tpp": "cpp",
"*.kit": "toml",
@@ -40,7 +45,6 @@
"teleoperation",
"xform",
"numpy",
"tensordict",
"flatcache",
"physx",
"dpad",
@@ -51,7 +55,9 @@
"arange",
"discretization",
"trimesh",
"uninstanceable"
"uninstanceable",
"coeff",
"prestartup"
],
// This enables python language server. Seems to work slightly better than jedi:
"python.languageServer": "Pylance",
@@ -70,7 +76,7 @@
// Python environment path
// note: the default interpreter is overridden when user selects a workspace interpreter
// in the status bar. For example, the virtual environment python interpreter
"python.defaultInterpreterPath": "",
"python.defaultInterpreterPath": "${workspaceFolder}/_isaac_sim/python.sh",
// ROS distribution
"ros.distro": "noetic",
// Language specific settings
@@ -81,6 +87,6 @@
"editor.tabSize": 2
},
// Python extra paths
// Note: this is filled up when vscode is set up for the first time
// Note: this is filled up when "./isaaclab.sh -i" is run
"python.analysis.extraPaths": []
}

65
.vscode/tools/setup_vscode.py vendored
View File

@@ -12,34 +12,21 @@ This is necessary because Isaac Sim 2022.2.1 onwards does not add the necessary
when the "setup_python_env.sh" is run as part of the vs-code launch configuration.
"""
import argparse
import os
import pathlib
import platform
import re
import sys
import os
import pathlib
PROJECT_DIR = pathlib.Path(__file__).parents[2]
"""Path to the the project directory."""
ISAACLAB_DIR = pathlib.Path(__file__).parents[2]
"""Path to the Isaac Lab directory."""
try:
import isaacsim # noqa: F401
isaacsim_dir = os.environ.get("ISAAC_PATH", "")
except ModuleNotFoundError or ImportError:
# Create a parser to get the isaac-sim path
parser = argparse.ArgumentParser(description="Setup the VSCode settings for the project.")
parser.add_argument("--isaac_path", type=str, help="The absolute path to the Isaac Sim installation.")
args = parser.parse_args()
# parse the isaac-sim directory
isaacsim_dir = args.isaac_path
# check if the isaac-sim directory is provided
if not os.path.exists(isaacsim_dir):
raise FileNotFoundError(
f"Could not find the isaac-sim directory: {isaacsim_dir}. Please provide the correct path to the Isaac Sim"
" installation."
)
isaacsim_dir = os.path.join(ISAACLAB_DIR, "_isaac_sim")
except EOFError:
print("Unable to trigger EULA acceptance. This is likely due to the script being run in a non-interactive shell.")
print("Please run the script in an interactive shell to accept the EULA.")
@@ -49,11 +36,11 @@ except EOFError:
# check if the isaac-sim directory exists
if not os.path.exists(isaacsim_dir):
raise FileNotFoundError(
f"Could not find the isaac-sim directory: {isaacsim_dir}. There are two possible reasons for this:\n\t1. The"
" Isaac Sim directory does not exist as provided CLI path.\n\t2. The script couldn't import the 'isaacsim'"
" package. This could be due to the 'isaacsim' package not being installed in the Python"
" environment.\n\nPlease make sure that the Isaac Sim directory exists or that the 'isaacsim' package is"
" installed."
f"Could not find the isaac-sim directory: {isaacsim_dir}. There are two possible reasons for this:"
f"\n\t1. The Isaac Sim directory does not exist as a symlink at: {os.path.join(ISAACLAB_DIR, '_isaac_sim')}"
"\n\t2. The script could not import the 'isaacsim' package. This could be due to the 'isaacsim' package not "
"being installed in the Python environment.\n"
"\nPlease make sure that the Isaac Sim directory exists or that the 'isaacsim' package is installed."
)
ISAACSIM_DIR = isaacsim_dir
@@ -98,7 +85,7 @@ def overwrite_python_analysis_extra_paths(isaaclab_settings: str) -> str:
path_names = [path_name for path_name in path_names if len(path_name) > 0]
# change the path names to be relative to the Isaac Lab directory
rel_path = os.path.relpath(ISAACSIM_DIR, PROJECT_DIR)
rel_path = os.path.relpath(ISAACSIM_DIR, ISAACLAB_DIR)
path_names = ['"${workspaceFolder}/' + rel_path + "/" + path_name + '"' for path_name in path_names]
else:
path_names = []
@@ -111,7 +98,7 @@ def overwrite_python_analysis_extra_paths(isaaclab_settings: str) -> str:
)
# add the path names that are in the Isaac Lab extensions directory
isaaclab_extensions = os.listdir(os.path.join(PROJECT_DIR, "source"))
isaaclab_extensions = os.listdir(os.path.join(ISAACLAB_DIR, "source"))
path_names.extend(['"${workspaceFolder}/source/' + ext + '"' for ext in isaaclab_extensions])
# combine them into a single string
@@ -144,17 +131,15 @@ def overwrite_default_python_interpreter(isaaclab_settings: str) -> str:
The settings string with overwritten default python interpreter.
"""
# read executable name
python_exe = os.path.normpath(sys.executable)
# replace with Isaac Sim's python.sh or python.bat scripts to make sure python with correct
# source paths is set as default
if f"kit{os.sep}python{os.sep}bin{os.sep}python" in python_exe:
# Check if the OS is Windows or Linux to use appropriate shell file
if platform.system() == "Windows":
python_exe = python_exe.replace(f"kit{os.sep}python{os.sep}bin{os.sep}python3", "python.bat")
else:
python_exe = python_exe.replace(f"kit{os.sep}python{os.sep}bin{os.sep}python3", "python.sh")
python_exe = sys.executable.replace("\\", "/")
# We make an exception for replacing the default interpreter if the
# path (/kit/python/bin/python3) indicates that we are using a local/container
# installation of IsaacSim. We will preserve the calling script as the default, python.sh.
# We want to use python.sh because it modifies LD_LIBRARY_PATH and PYTHONPATH
# (among other envars) that we need for all of our dependencies to be accessible.
if "kit/python/bin/python3" in python_exe:
return isaaclab_settings
# replace the default python interpreter in the Isaac Lab settings file with the path to the
# python interpreter in the Isaac Lab directory
isaaclab_settings = re.sub(
@@ -169,7 +154,7 @@ def overwrite_default_python_interpreter(isaaclab_settings: str) -> str:
def main():
# Isaac Lab template settings
isaaclab_vscode_template_filename = os.path.join(PROJECT_DIR, ".vscode", "tools", "settings.template.json")
isaaclab_vscode_template_filename = os.path.join(ISAACLAB_DIR, ".vscode", "tools", "settings.template.json")
# make sure the Isaac Lab template settings file exists
if not os.path.exists(isaaclab_vscode_template_filename):
raise FileNotFoundError(
@@ -195,13 +180,13 @@ def main():
isaaclab_settings = header_message + isaaclab_settings
# write the Isaac Lab settings file
isaaclab_vscode_filename = os.path.join(PROJECT_DIR, ".vscode", "settings.json")
isaaclab_vscode_filename = os.path.join(ISAACLAB_DIR, ".vscode", "settings.json")
with open(isaaclab_vscode_filename, "w") as f:
f.write(isaaclab_settings)
# copy the launch.json file if it doesn't exist
isaaclab_vscode_launch_filename = os.path.join(PROJECT_DIR, ".vscode", "launch.json")
isaaclab_vscode_template_launch_filename = os.path.join(PROJECT_DIR, ".vscode", "tools", "launch.template.json")
isaaclab_vscode_launch_filename = os.path.join(ISAACLAB_DIR, ".vscode", "launch.json")
isaaclab_vscode_template_launch_filename = os.path.join(ISAACLAB_DIR, ".vscode", "tools", "launch.template.json")
if not os.path.exists(isaaclab_vscode_launch_filename):
# read template launch settings
with open(isaaclab_vscode_template_launch_filename) as f: