Velog.io

구분선 굵게 - 섹션 구분

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IsaacLab

rsl_rl

conda activate env_isaaclab
python3 scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Velocity-Flat-Unitree-Go2-v0 --headless --max_iterations 10000

python3 scripts/reinforcement_learning/rsl_rl/play.py --task Isaac-Velocity-Flat-Unitree-Go2-Play-v0

linear acceleration

./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py       --task Isaac-Velocity-Flat-Unitree-Go2-v1 --headless --max_iterations 5000

./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/play.py       --task Isaac-Velocity-Flat-Unitree-Go2-v1       --num_envs 16       --checkpoint logs/rsl_rl/unitree_go2_flat_acc/2025-12-09_11-25-01/model_4999.pt       --headless --video --video_length 1000 --enable_camera

./isaaclab.sh -p -m tensorboard.main --logdir=logs

tensorboard --logdir logs --host 0.0.0.0 --port 6006

처럼 호스트를 0.0.0.0으로 지정하면 외부에서 접속 가능