Skip to content

Commit 65ae8e1

Browse files
some45buckssome45bucks
committed
cleaning up
1 parent 3e667f2 commit 65ae8e1

File tree

8 files changed

+41
-42
lines changed

8 files changed

+41
-42
lines changed

‎assets.zip

-4.42 MB
Binary file not shown.

‎run_training.sh

Lines changed: 16 additions & 19 deletions
Original file line numberDiff line numberDiff line change
@@ -1,30 +1,27 @@
1-
eval "$(conda shell.bash hook)"
2-
conda activate env_isaacsim
3-
41
num_runs=100_000_000
52

63
# run the homogeneous happo environment 4 times
74

85
for seed in 2 3 4
96
do
10-
python source/standalone/workflows/harl/train.py --task Isaac-Multi-Agent-Flat-Anymal-C-Direct-v0 --video_interval 10_000 --num_envs 2048 --save_interval 10 --log_interval 10 --algorithm happo --headless --num_env_steps $num_runs --dir /home/isaacp/sharedrepos/IsaacLab/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/anymal_c_multi_agent/models --seed $seed
7+
python source/standalone/workflows/harl/train.py --task Isaac-Multi-Agent-Flat-Anymal-C-Direct-v0 --video_interval 10_000 --num_envs 2048 --save_interval 10 --log_interval 10 --algorithm happo --headless --num_env_steps $num_runs --dir ./source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/anymal_c_multi_agent/models --seed $seed
118
done
129

13-
# run the homogeneous mappo environment 4 times
14-
for seed in 2 3 4
15-
do
16-
python source/standalone/workflows/harl/train.py --task Isaac-Multi-Agent-Flat-Anymal-C-Direct-v0 --video_interval 10_000 --num_envs 2048 --save_interval 10 --log_interval 10 --algorithm mappo --headless --num_env_steps $num_runs --dir /home/isaacp/sharedrepos/IsaacLab/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/anymal_c_multi_agent/models --seed $seed
17-
done
10+
# # run the homogeneous mappo environment 4 times
11+
# for seed in 2 3 4
12+
# do
13+
# python source/standalone/workflows/harl/train.py --task Isaac-Multi-Agent-Flat-Anymal-C-Direct-v0 --video_interval 10_000 --num_envs 2048 --save_interval 10 --log_interval 10 --algorithm mappo --headless --num_env_steps $num_runs --dir ./source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/anymal_c_multi_agent/models --seed $seed
14+
# done
1815

19-
#run heterogeneous happo 5 times
16+
# #run heterogeneous happo 5 times
2017

21-
for seed in 2 3 4
22-
do
23-
python source/standalone/workflows/harl/train.py --task Isaac-Anymal-H1-Push-Direct-v0 --video_interval 10_000 --num_envs 2048 --save_interval 10 --log_interval 10 --algorithm happo --headless --num_env_steps $num_runs --dir /home/isaacp/sharedrepos/IsaacLab/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/h1_anymal_env/2_agent_model --seed $seed
24-
done
25-
#run heterogeneous mappo 5 times
18+
# for seed in 2 3 4
19+
# do
20+
# python source/standalone/workflows/harl/train.py --task Isaac-Anymal-H1-Push-Direct-v0 --video_interval 10_000 --num_envs 2048 --save_interval 10 --log_interval 10 --algorithm happo --headless --num_env_steps $num_runs --dir ./source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/h1_anymal_env/2_agent_model --seed $seed
21+
# done
22+
# #run heterogeneous mappo 5 times
2623

27-
for seed in 2 3 4
28-
do
29-
python source/standalone/workflows/harl/train.py --task Isaac-Anymal-H1-Push-Direct-v0 --video_interval 10_000 --num_envs 2048 --save_interval 10 --log_interval 10 --algorithm mappo --headless --num_env_steps $num_runs --dir /home/isaacp/sharedrepos/IsaacLab/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/h1_anymal_env/2_agent_model --seed $seed
30-
done
24+
# for seed in 2 3 4
25+
# do
26+
# python source/standalone/workflows/harl/train.py --task Isaac-Anymal-H1-Push-Direct-v0 --video_interval 10_000 --num_envs 2048 --save_interval 10 --log_interval 10 --algorithm mappo --headless --num_env_steps $num_runs --dir ./source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/h1_anymal_env/2_agent_model --seed $seed
27+
# done

‎source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/anymal_c_multi_agent/__init__.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -10,7 +10,7 @@
1010
import gymnasium as gym
1111

1212
from . import agents
13-
from .anymal_c_multi_agent import AnymalCMultiAgent, AnymalCMultiAgentFlatEnvCfg, AnymalCMultiAgentRoughEnvCfg
13+
from .anymal_c_multi_agent import AnymalCMultiAgentBar,AnymalCMultiAgentFlatEnvCfg, AnymalCMultiAgentRoughEnvCfg
1414

1515
##
1616
# Register Gym environments.

‎source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/h1_anymal_ball_env/__init__.py

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -10,15 +10,15 @@
1010
import gymnasium as gym
1111

1212
from . import agents
13-
from .h1_anymal_ball_env import HeterogeneousMultiAgentFlatEnvCfg, HeterogeneousMultiAgentRoughEnvCfg
13+
from .h1_anymal_ball_env import HeterogeneousMultiAgentBall,HeterogeneousMultiAgentFlatEnvCfg, HeterogeneousMultiAgentRoughEnvCfg
1414

1515
##
1616
# Register Gym environments.
1717
##
1818

1919
gym.register(
2020
id="Isaac-Anymal-H1-Ball-Direct-v0",
21-
entry_point="omni.isaac.lab_tasks.direct.h1_anymal_piano_env:HeterogeneousMultiAgentBall",
21+
entry_point="omni.isaac.lab_tasks.direct.h1_anymal_ball_env:HeterogeneousMultiAgentBall",
2222
disable_env_checker=True,
2323
kwargs={
2424
"env_cfg_entry_point": HeterogeneousMultiAgentFlatEnvCfg,
@@ -31,7 +31,7 @@
3131

3232
gym.register(
3333
id="Isaac-Anymal-H1-Ball-Rough-Direct-v0",
34-
entry_point="omni.isaac.lab_tasks.direct.multi_agent_heterogeneous:HeterogeneousMultiAgentBall",
34+
entry_point="omni.isaac.lab_tasks.direct.h1_anymal_ball_env:HeterogeneousMultiAgentBall",
3535
disable_env_checker=True,
3636
kwargs={
3737
"env_cfg_entry_point": HeterogeneousMultiAgentRoughEnvCfg,

‎source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/h1_anymal_piano_env/__init__.py

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -10,7 +10,7 @@
1010
import gymnasium as gym
1111

1212
from . import agents
13-
from .h1_anymal_piano_env import HeterogeneousMultiAgentFlatEnvCfg, HeterogeneousMultiAgentRoughEnvCfg
13+
from .h1_anymal_piano_env import HeterogeneousMultiAgentPiano,HeterogeneousMultiAgentFlatEnvCfg, HeterogeneousMultiAgentRoughEnvCfg
1414

1515
##
1616
# Register Gym environments.
@@ -31,7 +31,7 @@
3131

3232
gym.register(
3333
id="Isaac-Anymal-H1-Piano-Rough-Direct-v0",
34-
entry_point="omni.isaac.lab_tasks.direct.multi_agent_heterogeneous:HeterogeneousMultiAgentPiano",
34+
entry_point="omni.isaac.lab_tasks.direct.h1_anymal_piano_env:HeterogeneousMultiAgentPiano",
3535
disable_env_checker=True,
3636
kwargs={
3737
"env_cfg_entry_point": HeterogeneousMultiAgentRoughEnvCfg,

‎source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/h1_anymal_push_env/__init__.py

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -10,15 +10,15 @@
1010
import gymnasium as gym
1111

1212
from . import agents
13-
from .h1_anymal_push_env import HeterogeneousPushMultiAgentFlatEnvCfg, HeterogeneousPushMultiAgentRoughEnvCfg
13+
from .h1_anymal_push_env import HeterogeneousPushMultiAgent,HeterogeneousPushMultiAgentFlatEnvCfg, HeterogeneousPushMultiAgentRoughEnvCfg
1414

1515
##
1616
# Register Gym environments.
1717
##
1818

1919
gym.register(
2020
id="Isaac-Anymal-H1-Push-Rough-Direct-v0",
21-
entry_point="omni.isaac.lab_tasks.direct.h1_anymal_env:HeterogeneousPushMultiAgent",
21+
entry_point="omni.isaac.lab_tasks.direct.h1_anymal_push_env:HeterogeneousPushMultiAgent",
2222
disable_env_checker=True,
2323
kwargs={
2424
"env_cfg_entry_point": HeterogeneousPushMultiAgentRoughEnvCfg,
@@ -31,7 +31,7 @@
3131

3232
gym.register(
3333
id="Isaac-Anymal-H1-Push-Direct-v0",
34-
entry_point="omni.isaac.lab_tasks.direct.h1_anymal_env:HeterogeneousPushMultiAgent",
34+
entry_point="omni.isaac.lab_tasks.direct.h1_anymal_push_env:HeterogeneousPushMultiAgent",
3535
disable_env_checker=True,
3636
kwargs={
3737
"env_cfg_entry_point": HeterogeneousPushMultiAgentFlatEnvCfg,

‎source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/h1_surf_anymal_env/__init__.py

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -10,15 +10,15 @@
1010
import gymnasium as gym
1111

1212
from . import agents
13-
from .h1_surf_anymal_env import HeterogeneousMultiAgentFlatSurfEnvCfg, HeterogeneousMultiAgentRoughSurfEnvCfg
13+
from .h1_surf_anymal_env import HeterogeneousMultiAgentSurf,HeterogeneousMultiAgentFlatSurfEnvCfg, HeterogeneousMultiAgentRoughSurfEnvCfg
1414

1515
##
1616
# Register Gym environments.
1717
##
1818

1919
gym.register(
20-
id="Isaac-Anymal-H1-Surf-Flat-Direct-v0",
21-
entry_point="omni.isaac.lab_tasks.direct.h1_anymal_env:HeterogeneousMultiAgentSurf",
20+
id="Isaac-Anymal-H1-Surf-Flat-Direct",
21+
entry_point="omni.isaac.lab_tasks.direct.h1_surf_anymal_env:HeterogeneousMultiAgentSurf",
2222
disable_env_checker=True,
2323
kwargs={
2424
"env_cfg_entry_point": HeterogeneousMultiAgentFlatSurfEnvCfg,
@@ -29,8 +29,8 @@
2929
},
3030
)
3131
gym.register(
32-
id="Isaac-Anymal-H1-Surf-Rough-Direct-v0",
33-
entry_point="omni.isaac.lab_tasks.direct.multi_agent_heterogeneous:HeterogeneousMultiAgentSurf",
32+
id="Isaac-Anymal-H1-Surf-Rough-Direct",
33+
entry_point="omni.isaac.lab_tasks.direct.h1_surf_anymal_env:HeterogeneousMultiAgentSurf",
3434
disable_env_checker=True,
3535
kwargs={
3636
"env_cfg_entry_point": HeterogeneousMultiAgentRoughSurfEnvCfg,

‎test_all_envs.sh

Lines changed: 11 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -1,12 +1,14 @@
11
eval "$(conda shell.bash hook)"
2-
conda activate env_isaacsim
2+
conda activate isaaclab
33

4-
num_runs=100_000
4+
num_runs=11_123
5+
num_envs=7
6+
algo=happo
7+
vid_interval=20000
58

6-
7-
# python source/standalone/workflows/harl/train.py --task Isaac-Multi-Agent-Flat-Anymal-C-Direct-v0 --video_interval 10_000 --num_envs 16 --save_interval 10 --log_interval 10 --algorithm happo --headless --num_env_steps $num_runs
8-
# python source/standalone/workflows/harl/train.py --task Isaac-Anymal-H1-Push-Direct-v0 --video_interval 10_000 --num_envs 16 --save_interval 10 --log_interval 10 --algorithm mappo --headless --num_env_steps $num_runs
9-
# python source/standalone/workflows/harl/train.py --task Isaac-Anymal-H1-Piano-Direct-v0 --video_interval 10_000 --num_envs 16 --save_interval 10 --log_interval 10 --algorithm mappo --headless --num_env_steps $num_runs
10-
# python source/standalone/workflows/harl/train.py --task Isaac-Shadow-Hand-Over-Direct-v0 --video_interval 10_000 --num_envs 16 --save_interval 10 --log_interval 10 --algorithm mappo --headless --num_env_steps $num_runs
11-
# python source/standalone/workflows/harl/train.py --task Isaac-Anymal-H1-Ball-Direct-v0 --video_interval 10_000 --num_envs 16 --save_interval 10 --log_interval 10 --algorithm mappo --headless --num_env_steps $num_runs
12-
python source/standalone/workflows/harl/train.py --task Isaac-Anymal-H1-Flat-Direct-v0 --video_interval 10_000 --num_envs 16 --save_interval 10 --log_interval 10 --algorithm mappo --headless --num_env_steps $num_runs
9+
python ./source/standalone/workflows/harl/train.py --task Isaac-Multi-Agent-Flat-Anymal-C-Direct-v0 --video_interval $vid_interval --num_envs $num_envs --save_interval 10 --log_interval 10 --algorithm $algo --headless --num_env_steps $num_runs
10+
python ./source/standalone/workflows/harl/train.py --task Isaac-Anymal-H1-Push-Direct-v0 --video_interval $vid_interval --num_envs $num_envs --save_interval 10 --log_interval 10 --algorithm $algo --headless --num_env_steps $num_runs
11+
python ./source/standalone/workflows/harl/train.py --task Isaac-Anymal-H1-Piano-Direct-v0 --video_interval $vid_interval --num_envs $num_envs --save_interval 10 --log_interval 10 --algorithm $algo --headless --num_env_steps $num_runs
12+
python ./source/standalone/workflows/harl/train.py --task Isaac-Shadow-Hand-Over-Direct-v0 --video_interval $vid_interval --num_envs $num_envs --save_interval 10 --log_interval 10 --algorithm $algo --headless --num_env_steps $num_runs
13+
python ./source/standalone/workflows/harl/train.py --task Isaac-Anymal-H1-Ball-Direct-v0 --video_interval $vid_interval --num_envs $num_envs --save_interval 10 --log_interval 10 --algorithm $algo --headless --num_env_steps $num_runs
14+
python ./source/standalone/workflows/harl/train.py --task Isaac-Anymal-H1-Surf-Flat-Direct --video_interval $vid_interval --num_envs $num_envs --save_interval 10 --log_interval 10 --algorithm $algo --headless --num_env_steps $num_runs

0 commit comments

Comments
 (0)