| Verifying the UW Lab installation |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| To verify that the installation was successful, run the following command from the |
| top of the repository: |
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| .. tab-set:: |
| :sync-group: os |
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| .. tab-item:: :icon:`fa-brands fa-linux` Linux |
| :sync: linux |
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| .. code:: bash |
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| |
| |
| ./uwlab.sh -p scripts/tutorials/00_sim/create_empty.py |
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| |
| python scripts/tutorials/00_sim/create_empty.py |
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| .. tab-item:: :icon:`fa-brands fa-windows` Windows |
| :sync: windows |
|
|
| .. code:: batch |
|
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| :: Option 1: Using the uwlab.bat executable |
| :: note: this works for both the bundled python and the virtual environment |
| uwlab.bat -p scripts\tutorials\00_sim\create_empty.py |
|
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| :: Option 2: Using python in your virtual environment |
| python scripts\tutorials\00_sim\create_empty.py |
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| The above command should launch the simulator and display a window with a black |
| viewport. You can exit the script by pressing ``Ctrl+C`` on your terminal. |
| On Windows machines, please terminate the process from Command Prompt using |
| ``Ctrl+Break`` or ``Ctrl+fn+B``. |
|
|
| .. figure:: /source/_static/setup/verify_install.jpg |
| :align: center |
| :figwidth: 100% |
| :alt: Simulator with a black window. |
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| If you see this, then the installation was successful! |:tada:| |
|
|
| .. note:: |
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| If you see an error ``ModuleNotFoundError: No module named 'isaacsim'``, please ensure that the virtual |
| environment is activated and ``source _isaac_sim/setup_conda_env.sh`` has been executed (for uv as well). |
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| Train a robot! |
| ~~~~~~~~~~~~~~ |
|
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| You can now use UW Lab to train a robot through Reinforcement Learning! The quickest way to use UW Lab is through the predefined workflows using one of our **Batteries-included** robot tasks. Execute the following command to quickly train an ant to walk! |
| We recommend adding ``--headless`` for faster training. |
|
|
| .. tab-set:: |
| :sync-group: os |
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| .. tab-item:: :icon:`fa-brands fa-linux` Linux |
| :sync: linux |
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| .. code:: bash |
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| ./uwlab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Ant-v0 --headless |
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| .. tab-item:: :icon:`fa-brands fa-windows` Windows |
| :sync: windows |
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| .. code:: batch |
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| uwlab.bat -p scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Ant-v0 --headless |
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| ... Or a robot dog! |
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|
| .. tab-set:: |
| :sync-group: os |
|
|
| .. tab-item:: :icon:`fa-brands fa-linux` Linux |
| :sync: linux |
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|
| .. code:: bash |
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| ./uwlab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Velocity-Rough-Anymal-C-v0 --headless |
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| .. tab-item:: :icon:`fa-brands fa-windows` Windows |
| :sync: windows |
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| .. code:: batch |
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| uwlab.bat -p scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Velocity-Rough-Anymal-C-v0 --headless |
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|
