{"id":117006,"date":"2026-10-22T10:07:49","date_gmt":"2026-10-22T02:07:49","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/117006.html"},"modified":"2026-10-22T10:07:49","modified_gmt":"2026-10-22T02:07:49","slug":"%e9%81%a5%e6%93%8d%e4%bd%9c%e5%ae%9e%e6%93%8d%e6%89%8b%e5%86%8c%ef%bc%9afranka-%e6%91%9e%e6%96%b9%e5%9d%97%ef%bc%88%e9%94%ae%e7%9b%98-xbox360-%e9%bc%a0%e6%a0%87%ef%bc%89%ef%bc%88%e4%ba%8c%ef%bc%89","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/117006.html","title":{"rendered":"\u9065\u64cd\u4f5c\u5b9e\u64cd\u624b\u518c\uff1aFranka \u645e\u65b9\u5757\uff08\u952e\u76d8 \/ Xbox360 \/ \u9f20\u6807\uff09\uff08\u4e8c\uff09"},"content":{"rendered":"

\u9065\u64cd\u4f5c\u5b9e\u64cd\u624b\u518c：Franka \u645e\u65b9\u5757（\u952e\u76d8 \/ Xbox360 \/ \u9f20\u6807）（\u4e8c）<\/h2>\n

\u8fd9\u662f\u7cfb\u5217\u7684\u7b2c\u4e8c\u7bc7\u3002\u4e0a\u4e00\u7bc7\u6211\u4eec\u628a\u4e94\u7c7b\u6570\u636e\u91c7\u96c6\u65b9\u5f0f\u8fc7\u4e86\u4e00\u904d；\u8fd9\u4e00\u7bc7\u628a\u5176\u4e2d\u7684"\u9065\u64cd\u4f5c\u5f55\u6570"\u8fd9\u6761\u4ea7\u7ebf\u4ece\u5934\u5230\u5c3e\u8d70\u4e00\u904d：\u5728 Isaac Sim \/ Isaac Lab \u91cc\u7528\u4e09\u79cd\u8f93\u5165\u8bbe\u5907\u9065\u64cd\u4f5c Franka \u673a\u68b0\u81c2\u5b8c\u6210"\u4e09\u5757\u79ef\u6728\u53e0\u5854"，\u5f55\u5236\u6570\u636e\u96c6，\u5e76\u8dd1\u901a\u300c\u6570\u636e\u68c0\u67e5 \u2192 \u8d28\u91cf\u8bc4\u4f30 \u2192 Mimic \u589e\u5e7f \u2192 \u884c\u4e3a\u514b\u9686\u8bad\u7ec3\u300d\u7684\u5b8c\u6574\u95ed\u73af\u3002<\/p>\n

\u914d\u5957\u8d44\u6e90：\u672c\u7cfb\u5217\u7684\u5168\u90e8\u6587\u7ae0\u3001\u914d\u5957\u811a\u672c\u4e0e\u56fe\u8868\u6e90\u7801\u5df2\u5f00\u6e90：github.com\/huangqiulong\/IsaacDataCollection<\/p>\n

0. \u4e00\u5206\u949f\u901f\u89c8<\/h3>\n\n\u95ee\u9898\u7ed3\u8bba<\/tr>\n\n\n\n\n\n\n
\u7ec3\u624b\u4efb\u52a1<\/td>\nIsaacContrib-Stack-Cube-Franka-IK-Rel（\u4e09\u5757\u79ef\u6728\u53e0\u5854，\u84dd\u2192\u7ea2\u2192\u7eff）<\/td>\n<\/tr>\n
\u7528\u54ea\u4e9b\u8bbe\u5907<\/td>\n\u952e\u76d8（\u5185\u7f6e，\u96f6\u95e8\u69db）\u3001Xbox \u624b\u67c4\u3001\u9f20\u6807（\u89c6\u89d2\u63a7\u5236）<\/td>\n<\/tr>\n
\u6570\u636e\u4ea7\u51fa<\/td>\nHDF5 \u6f14\u793a\u96c6（robomimic \u517c\u5bb9，\u53ea\u4fdd\u5b58\u6210\u529f\u6f14\u793a）<\/td>\n<\/tr>\n
\u4e00\u6b21\u7ec3\u624b\u8981\u591a\u4e45<\/td>\n\u7ea6\u534a\u5929：\u5f55\u5236 10 \u6761 + \u8d28\u68c0 + Mimic\u2192BC \u5c0f\u89c4\u6a21\u95ed\u73af<\/td>\n<\/tr>\n
\u6700\u6838\u5fc3\u7684\u4e00\u6761\u7eaa\u5f8b<\/td>\n\u5931\u8d25\u7acb\u523b\u6309 R \u91cd\u5f00，\u4e0d\u8981\u5728\u5931\u8d25\u7684\u5c1d\u8bd5\u91cc"\u6551\u56de\u6765"<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

1. \u4efb\u52a1：\u4e3a\u4ec0\u4e48\u4ece"\u645e\u65b9\u5757"\u5f00\u59cb<\/h3>\n

\u4efb\u52a1\u76ee\u6807：\u684c\u9762\u4e0a\u6709\u84dd\u3001\u7ea2\u3001\u7eff\u4e09\u5757\u79ef\u6728，\u628a\u7ea2\u5757\u53e0\u5230\u84dd\u5757\u4e0a\u3001\u7eff\u5757\u53e0\u5230\u7ea2\u5757\u4e0a，\u53e0\u6210\u5854（\u4ece\u4e0b\u5230\u4e0a：\u84dd \u2192 \u7ea2 \u2192 \u7eff），\u968f\u540e\u677e\u5f00\u5939\u722a\u5e76\u4fdd\u6301\u7a33\u5b9a\u2014\u2014\u7a0b\u5e8f\u81ea\u52a8\u5224\u5b9a\u6210\u529f\u3002<\/p>\n

\"\u56fe<\/p>\n

\u56fe 1：\u4efb\u52a1\u793a\u610f\u3002\u84dd\u5757\u662f\u5e95\u5ea7（\u5168\u7a0b\u4e0d\u52a8），\u7ea2\u5757\u548c\u7eff\u5757\u4ece\u6563\u653e\u4f4d\u7f6e\u642c\u4e0a\u5854\u3002<\/p>\n

\u4e3a\u4ec0\u4e48\u5b83\u9002\u5408\u4f5c\u4e3a"\u9065\u64cd\u4f5c\u7b2c\u4e00\u8bfe"：<\/p>\n\n\u7406\u7531\u8bf4\u660e<\/tr>\n\n\n\n\n\n\n
\u52a8\u4f5c\u8bed\u4e49\u901a\u7528<\/td>\n\u52a8\u4f5c = \u672b\u7aef\u76f8\u5bf9\u4f4d\u59ff\u589e\u91cf + \u5939\u722a\u5f00\u5408（\u5fae\u5206 IK），\u4e0e UMI \u6570\u636e\u3001Mimic \u751f\u6210\u3001\u4e0b\u6e38\u8bad\u7ec3\u5168\u94fe\u8def\u5bf9\u9f50<\/td>\n<\/tr>\n
\u6210\u529f\u5224\u636e\u660e\u786e<\/td>\n\u4e09\u5757\u53e0\u7a33 + \u5939\u722a\u677e\u5f00\u5373\u6210\u529f，\u7a0b\u5e8f\u81ea\u52a8\u5224\u5b9a，\u53ea\u4fdd\u5b58\u6210\u529f\u6f14\u793a<\/td>\n<\/tr>\n
\u5355\u6761\u6f14\u793a\u77ed<\/td>\n\u719f\u7ec3\u540e 10~30 \u79d2\u4e00\u6761；\u65b0\u624b 1~3 \u5206\u949f\u4e00\u6761<\/td>\n<\/tr>\n
\u65e0\u76f8\u673a，\u8fd0\u884c\u8f7b<\/td>\nstate \u6a21\u5f0f\u4e0d\u6e32\u67d3\u76f8\u673a，8GB \u663e\u5b58\u8f7b\u677e\u8dd1<\/td>\n<\/tr>\n
\u4e0b\u6e38\u539f\u751f\u652f\u6301<\/td>\n\u8be5\u4efb\u52a1\u662f Isaac Lab Mimic \u7684\u65d7\u8230\u793a\u4f8b，\u6807\u6ce8\u3001\u751f\u6210\u3001BC \u8bad\u7ec3\u4e00\u952e\u8d2f\u901a<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

2. \u5f00\u59cb\u4e4b\u524d：\u68c0\u67e5\u6e05\u5355<\/h3>\n
    \n
  • \u6309\u5b98\u65b9\u6587\u6863\u88c5\u597d Isaac Sim \u4e0e Isaac Lab（\u89c1\u6587\u672b\u94fe\u63a5）；\u5fc5\u987b\u6709\u56fe\u5f62\u754c\u9762（\u9065\u64cd\u4f5c\u8981\u5728\u7a97\u53e3\u91cc\u64cd\u4f5c）；<\/li>\n
  • \u4e0b\u8f7d\u7248 Isaac Sim \u7684\u73af\u5883\u91cc，\u547d\u4ee4\u524d\u5148\u6fc0\u6d3b\u865a\u62df\u73af\u5883：cd isaaclab && source .venv\/bin\/activate；<\/li>\n
  • \u8dd1\u4e4b\u524d\u770b\u4e00\u773c nvidia-smi：\u786e\u8ba4\u6ca1\u6709\u5176\u5b83\u8fdb\u7a0b\u5360\u7740\u663e\u5361（\u4e00\u6b21\u53ea\u8dd1\u4e00\u4e2a Isaac \u8fdb\u7a0b）；<\/li>\n
  • \u51c6\u5907 5GB \u4ee5\u4e0a\u78c1\u76d8\u4f59\u91cf（\u65e5\u5fd7\u4e0e\u6570\u636e\u96c6\u4f1a\u6301\u7eed\u589e\u957f）；<\/li>\n
  • \u6240\u6709\u6570\u636e\u96c6\u7edf\u4e00\u653e ~\/code\/isaac\/IsaacDataCollection\/datasets\/ \u76ee\u5f55（\u5148 mkdir -p ~\/code\/isaac\/IsaacDataCollection\/datasets）\u3002<\/li>\n<\/ul>\n

    3. \u8bbe\u5907：\u952e\u76d8\u3001\u624b\u67c4\u4e0e\u9f20\u6807<\/h3>\n

    3.1 \u952e\u76d8（\u5185\u7f6e，\u63a8\u8350\u5148\u7528\u5b83）<\/h4>\n

    \u952e\u76d8\u662f\u5b98\u65b9\u5185\u7f6e\u8bbe\u5907，\u96f6\u914d\u7f6e\u3002\u952e\u4f4d\u6309\u529f\u80fd\u5206\u4e3a\u56db\u7ec4：<\/p>\n

    \"\u56fe<\/p>\n

    \u56fe 2：\u9ed8\u8ba4\u952e\u4f4d\u3002\u84dd = \u5e73\u79fb，\u6a59 = \u65cb\u8f6c，\u7eff = \u5939\u722a，\u7d2b = \u590d\u4f4d\/\u91cd\u5f00\u3002<\/p>\n\n\u952e\u4f5c\u7528\u952e\u4f5c\u7528<\/tr>\n\n\n\n\n\n
    W \/ S<\/td>\n\u672b\u7aef\u524d\u540e（x）<\/td>\nZ \/ X<\/td>\n\u7ed5 x \u65cb\u8f6c（roll）<\/td>\n<\/tr>\n
    A \/ D<\/td>\n\u672b\u7aef\u5de6\u53f3（y）<\/td>\nT \/ G<\/td>\n\u7ed5 y \u65cb\u8f6c（pitch）<\/td>\n<\/tr>\n
    Q \/ E<\/td>\n\u672b\u7aef\u4e0a\u4e0b（z）<\/td>\nC \/ V<\/td>\n\u7ed5 z \u65cb\u8f6c（yaw）<\/td>\n<\/tr>\n
    K<\/td>\n\u5f00 \/ \u5408\u5939\u722a<\/td>\nL<\/td>\n\u590d\u4f4d（\u6e05\u7a7a\u5f53\u524d\u589e\u91cf）<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

    \u5f55\u5236\u65f6\u8fd8\u6709\u4e00\u4e2a\u5173\u952e\u6309\u952e：R = \u91cd\u5f00\u5f53\u524d\u6f14\u793a（\u672c\u7ae0\u7b2c 4 \u8282\u8be6\u7ec6\u8bb2）\u3002<\/p>\n

    \u624b\u6cd5\u8981\u70b9：\u70b9\u6309 = \u5c0f\u6b65\u5fae\u8c03（\u7ea6 2~3 cm\/\u6b65），\u6309\u4f4f = \u6301\u7eed\u5feb\u901f\u79fb\u52a8\u3002\u63a5\u8fd1\u79ef\u6728\u65f6\u7528\u70b9\u6309，\u5bf9\u51c6\u4e2d\u5fc3\u518d\u5408\u722a\u2014\u2014\u8fd9\u4e2a\u8282\u594f\u611f\u76f4\u63a5\u51b3\u5b9a\u6570\u636e\u8d28\u91cf\u3002<\/p>\n

    3.2 Xbox \u624b\u67c4<\/h4>\n

    Isaac Lab \u5185\u7f6e\u4e86 Xbox \u624b\u67c4\u8bbe\u5907\u7c7b（\u6309\u952e\u6620\u5c04\u63a5\u8fd1\u6e38\u620f\u4e60\u60ef：\u5de6\u6447\u6746\u5e73\u79fb\u3001\u53f3\u6447\u6746\u504f\u822a\u3001D-Pad \u8c03\u6574\u59ff\u6001\u3001X \u952e\u5f00\u5408\u5939\u722a），\u4f46\u5b98\u65b9\u5f55\u5236\u811a\u672c\u9ed8\u8ba4\u6ce8\u518c\u7684\u8bbe\u5907\u53ea\u6709\u952e\u76d8\u4e0e SpaceMouse\u2014\u2014\u82e5\u76f4\u63a5\u5bf9 teleop record \u6307\u5b9a\u624b\u67c4，\u4f1a\u5f97\u5230\u7c7b\u4f3c\u4e0b\u9762\u7684\u62a5\u9519：<\/p>\n

    –teleop_device=gamepad … Built-in devices: keyboard, spacemouse.<\/p>\n

    \u8981\u7528\u624b\u67c4\u5f55\u5236，\u9700\u8981\u5728\u4efb\u52a1\u914d\u7f6e\u7684 teleop_devices \u91cc\u6ce8\u518c\u4e00\u4e2a gamepad \u6761\u76ee（\u5e38\u89c1\u505a\u6cd5\u662f\u57fa\u4e8e\u5b98\u65b9\u4efb\u52a1\u6d3e\u751f\u4e00\u4e2a\u81ea\u5b9a\u4e49\u4efb\u52a1\u53d8\u4f53，\u5728\u914d\u7f6e\u91cc\u52a0\u4e0a\u8be5\u8bbe\u5907）\u3002\u6ce8\u518c\u540e\u6bcf\u6b21\u5f55\u5236\u53ea\u6362\u4e00\u6761\u53c2\u6570\u5373\u53ef：<\/p>\n

    .\/isaaclab.sh teleop record \\\\<\/span>
    \n –task<\/span> <<\/span>\u4f60\u7684\u81ea\u5b9a\u4e49\u4efb\u52a1\u540d><\/span> \\\\<\/span>
    \n –visualizer<\/span> kit \\\\<\/span>
    \n –teleop_device<\/span> gamepad \\\\<\/span>
    \n –num_demos<\/span> 10<\/span> \\\\<\/span>
    \n –dataset_file<\/span> ~\/code\/isaac\/IsaacDataCollection\/datasets\/dataset_gamepad.hdf5<\/p>\n

    \u5c0f\u63d0\u793a：\u624b\u67c4\u6ca1\u53cd\u5e94\u65f6，\u5148\u70b9\u4e00\u4e0b Isaac Sim \u7a97\u53e3\u8ba9\u5b83\u83b7\u5f97\u7126\u70b9；Linux \u4e0b\u7528 ls \/dev\/input\/js* \u786e\u8ba4\u8bbe\u5907\u8282\u70b9\u5b58\u5728\u3002<\/p>\n

    3.3 \u9f20\u6807（\u89c6\u89d2\u63a7\u5236）<\/h4>\n

    \u9f20\u6807\u4e0d\u76f4\u63a5\u9a71\u52a8\u673a\u5668\u4eba，\u800c\u662f\u63a7\u5236\u89c2\u5bdf\u89c6\u89d2\u2014\u2014"\u5de6\u624b\u952e\u76d8\u64cd\u4f5c\u3001\u53f3\u624b\u9f20\u6807\u770b\u89d2\u5ea6"\u662f\u65e5\u5e38\u5b9e\u64cd\u6700\u5e38\u7528\u7684\u7ec4\u5408：<\/p>\n

      \n
    • \u73af\u7ed5\u89c6\u89d2 = \u53f3\u952e\u62d6\u62fd；\u5e73\u79fb\u89c6\u89d2 = \u4e2d\u952e\u62d6\u62fd；\u7f29\u653e = \u6eda\u8f6e；\u805a\u7126\u9009\u4e2d\u7269\u4f53 = F\u3002<\/li>\n<\/ul>\n

      3.4 \u8bbe\u5907\u600e\u4e48\u9009<\/h4>\n\n\u8bbe\u5907\u4e0a\u624b\u901f\u5ea6\u7cbe\u5ea6\u9002\u5408<\/tr>\n\n\n\n\n\n
      \u952e\u76d8<\/td>\n\u2605\u2605\u2605（\u7acb\u523b）<\/td>\n\u4e2d（\u79bb\u6563\u6b65\u8fdb）<\/td>\n\u9996\u7ec3\u3001\u5feb\u901f\u5c0f\u6279\u5f55\u5236<\/td>\n<\/tr>\n
      Xbox \u624b\u67c4<\/td>\n\u2605\u2605（\u9700\u6ce8\u518c\u8bbe\u5907）<\/td>\n\u4e2d\u9ad8（\u8fde\u7eed\u6a21\u62df\u91cf）<\/td>\n\u6d41\u7545\u5f55\u5236\u4e3b\u529b<\/td>\n<\/tr>\n
      SpaceMouse<\/td>\n\u2605\u2605（\u5b98\u65b9\u5185\u7f6e，Linux \u9700\u914d\u7f6e udev \u6743\u9650）<\/td>\n\u9ad8<\/td>\n\u684c\u9762\u7cbe\u7ec6\u64cd\u4f5c<\/td>\n<\/tr>\n
      \u9f20\u6807<\/td>\n\u2605\u2605\u2605（\u8f85\u52a9）<\/td>\n\u2014<\/td>\n\u8c03\u89c6\u89d2，\u914d\u5408\u952e\u76d8\u4f7f\u7528<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

      4. \u5f55\u5236：\u4ece\u70ed\u8eab\u5230\u5341\u6761\u6570\u636e<\/h3>\n

      4.1 \u70ed\u8eab（\u53ea\u64cd\u4f5c\u3001\u4e0d\u4fdd\u5b58）<\/h4>\n

      .\/isaaclab.sh teleop run \\\\<\/span>
      \n –task<\/span> IsaacContrib-Stack-Cube-Franka-IK-Rel \\\\<\/span>
      \n –visualizer<\/span> kit –num_envs<\/span> 1<\/span> \\\\<\/span>
      \n –teleop_device<\/span> keyboard<\/p>\n

      \u5148\u7528 10 \u5206\u949f\u719f\u6089\u624b\u611f：\u8d70\u4e00\u904d"\u63a5\u8fd1\u7ea2\u5757 \u2192 \u5bf9\u51c6 \u2192 K \u5408\u722a \u2192 \u62ac\u8d77 \u2192 \u79fb\u5230\u84dd\u5757\u4e0a\u65b9 \u2192 \u653e\u4e0b \u2192 K \u5f00\u722a"，\u518d\u53e0\u7eff\u5757\u3002\u5148\u6162\u540e\u5feb，\u719f\u7ec3\u4e4b\u524d\u4e0d\u8981\u8ffd\u6c42\u901f\u5ea6\u3002<\/p>\n

      4.2 \u6b63\u5f0f\u5f55\u5236<\/h4>\n

      .\/isaaclab.sh teleop record \\\\<\/span>
      \n –task<\/span> IsaacContrib-Stack-Cube-Franka-IK-Rel \\\\<\/span>
      \n –visualizer<\/span> kit \\\\<\/span>
      \n –teleop_device<\/span> keyboard \\\\<\/span>
      \n –num_demos<\/span> 10<\/span> \\\\<\/span>
      \n –dataset_file<\/span> ~\/code\/isaac\/IsaacDataCollection\/datasets\/dataset_keyboard.hdf5<\/p>\n

      \u4e00\u6b21\u4f1a\u8bdd\u7684\u5b8c\u6574\u6d41\u8f6c\u5982\u4e0b\u2014\u2014\u5931\u8d25\u4e0e\u6210\u529f\u5404\u6709\u660e\u786e\u901a\u8def，\u4e0d\u9700\u8981\u4f60\u8bb0\u989d\u5916\u89c4\u5219：<\/p>\n

      \"\u56fe<\/p>\n

      \u56fe 3：\u6210\u529f \u2192 \u81ea\u52a8\u4fdd\u5b58\u5e76\u91cd\u7f6e；\u5931\u8d25 \u2192 \u6309 R \u91cd\u5f00\u672c\u6761；\u6512\u6ee1 N \u6761\u81ea\u52a8\u9000\u51fa\u3002<\/p>\n

      \u9010\u6761\u6f14\u7ec3：<\/p>\n

    • \u542f\u52a8：\u7b49\u573a\u666f\u52a0\u8f7d（\u51e0\u5341\u79d2），\u51fa\u73b0 Franka + \u4e09\u5757\u79ef\u6728；<\/li>\n
    • \u7b2c\u4e00\u6761\u6162\u52a8\u4f5c\u8d70\u4e00\u904d：\u7ea2\u5757\u53e0\u5230\u84dd\u5757\u4e0a \u2192 K \u5f00\u722a \u2192 \u6293\u7eff\u5757\u53e0\u5230\u7ea2\u5757\u4e0a \u2192 K \u5f00\u722a\u5e76\u79fb\u5f00\u673a\u68b0\u81c2，\u7a33\u5b9a\u4fdd\u6301 2~3 \u79d2 \u2192 \u7ec8\u7aef\u6253\u5370 Success condition met! Recording completed.，\u8be5\u6761\u6f14\u793a\u81ea\u52a8\u4fdd\u5b58；<\/li>\n
    • \u81ea\u52a8\u8fdb\u5165\u4e0b\u4e00\u6761：\u73af\u5883\u91cd\u7f6e，\u79ef\u6728\u968f\u673a\u6362\u4f4d；<\/li>\n
    • \u5931\u8d25\u4e86\u5c31\u6309 R：\u79ef\u6728\u78b0\u5012\/\u6293\u6b6a，\u6309 R \u91cd\u5f00\u672c\u6761\u2014\u2014\u5931\u8d25\u7684\u5c1d\u8bd5\u4e0d\u4f1a\u5199\u8fdb\u6570\u636e\u96c6；<\/li>\n
    • \u5f55\u6ee1 10 \u6761\u81ea\u52a8\u9000\u51fa；\u4e2d\u9014\u60f3\u505c\u5c31 Ctrl+C（\u6b63\u5e38\u6536\u5c3e，\u5df2\u4fdd\u5b58\u7684\u6f14\u793a\u90fd\u5728）\u3002<\/li>\n

      \u26a0\ufe0f \u53e0\u653e\u987a\u5e8f\u5fc5\u987b\u6b63\u786e：\u6210\u529f\u5224\u5b9a\u8981\u6c42 \u84dd（\u5e95）\u2192 \u7ea2（\u4e2d）\u2192 \u7eff（\u9876）\u3002\u987a\u5e8f\u9519\u4e86，\u4efb\u52a1\u6c38\u8fdc\u4e0d\u4f1a\u5224\u5b9a\u6210\u529f\u2014\u2014\u7ec8\u7aef\u6ca1\u6709\u6210\u529f\u6253\u5370，\u6570\u636e\u96c6\u6587\u4ef6\u91cc\u4e5f\u4e0d\u4f1a\u6709\u6f14\u793a\u3002<\/p>\n

      4.3 \u5f55\u5236\u7eaa\u5f8b（\u51b3\u5b9a\u6570\u636e\u8d28\u91cf）<\/h4>\n
        \n
      • \u5931\u8d25\u7acb\u523b\u6309 R，\u4e0d\u8981\u5728\u5931\u8d25\u5c1d\u8bd5\u91cc"\u6551\u56de\u6765"\u2014\u2014\u6551\u56de\u6765\u7684\u8f68\u8ff9\u52a8\u4f5c\u6742\u4e71，\u662f\u5178\u578b\u7684\u810f\u6570\u636e；<\/li>\n
      • \u52a8\u4f5c\u5b81\u6162\u52ff\u5feb\u3001\u4ee5\u70b9\u6309\u4e3a\u4e3b；\u6293\u53d6\u524d\u5bf9\u51c6\u79ef\u6728\u4e2d\u5fc3\u518d\u5408\u722a；<\/li>\n
      • \u53e0\u653e\u987a\u5e8f\u6052\u5b9a：\u7ea2\u53e0\u84dd \u2192 \u7eff\u53e0\u7ea2；<\/li>\n
      • \u6bcf\u5f55 5 \u6761\u53ef\u4ee5\u505c\u4e0b\u6765\u7528 replay \u68c0\u67e5\u4e00\u904d（\u89c1\u4e0b\u4e00\u8282），\u518d\u7ee7\u7eed\u3002<\/li>\n<\/ul>\n

        5. \u6570\u636e\u68c0\u67e5\u4e0e\u8d28\u91cf\u8bc4\u4f30<\/h3>\n

        5.1 \u7b2c\u4e00\u5c42：\u56de\u653e\u9a8c\u8bc1<\/h4>\n

        \u7528\u521a\u5f55\u597d\u7684\u6570\u636e\u96c6\u56de\u653e\u2014\u2014\u540c\u4e00\u5957\u7269\u7406\u4e0b，\u52a8\u4f5c\u5e8f\u5217\u5e94\u5f53\u80fd\u590d\u73b0\u6210\u529f：<\/p>\n

        .\/isaaclab.sh teleop replay \\\\<\/span>
        \n –task<\/span> IsaacContrib-Stack-Cube-Franka-IK-Rel \\\\<\/span>
        \n –visualizer<\/span> kit –num_envs<\/span> 1<\/span> \\\\<\/span>
        \n –reset_sim_buffer_each_episode<\/span> \\\\<\/span>
        \n –dataset_file<\/span> ~\/code\/isaac\/IsaacDataCollection\/datasets\/dataset_keyboard.hdf5<\/p>\n

        \u9884\u671f 10\/10 \u6761\u56de\u653e\u6210\u529f\u3002\u4e2a\u522b\u5931\u8d25\u5c5e\u6b63\u5e38\u8fb9\u754c\u60c5\u51b5（\u8be5\u6761\u5f55\u5236\u65f6\u4f9d\u8d56\u4e86\u592a\u591a\u4eba\u7c7b\u5b9e\u65f6\u5fae\u8c03）\u2014\u2014\u8ffd\u6c42\u9ad8\u8d28\u91cf\u65f6\u5220\u6389\u91cd\u5f55\u5373\u53ef\u3002<\/p>\n

        5.2 \u7b2c\u4e8c\u5c42：\u6570\u636e"\u4f53\u68c0\u62a5\u544a"<\/h4>\n

        \u5f55\u5236\u8f93\u51fa\u7684 HDF5 \u91cc，\u6bcf\u6761\u6f14\u793a\u90fd\u6709\u4e30\u5bcc\u7684\u6570\u503c\u6307\u6807\u53ef\u67e5\u3002\u7528 h5py \u628a\u5173\u952e\u6307\u6807\u8fc7\u4e00\u904d：<\/p>\n

        import<\/span> h5py<\/p>\n

        with<\/span> h5py.<\/span>File(<\/span>"\/home\/dillon\/code\/isaac\/IsaacDataCollection\/datasets\/dataset_keyboard.hdf5"<\/span>,<\/span> "r"<\/span>)<\/span> as<\/span> f:<\/span>
        \n for<\/span> k in<\/span> f[<\/span>"data"<\/span>]<\/span>:<\/span> # \u9010\u6761\u6f14\u793a<\/span>
        \n d =<\/span> f[<\/span>"data"<\/span>]<\/span>[<\/span>k]<\/span>
        \n actions =<\/span> d[<\/span>"actions"<\/span>]<\/span>[<\/span>:<\/span>]<\/span>
        \n grip =<\/span> actions[<\/span>:<\/span>,<\/span> 6<\/span>]<\/span>
        \n toggles =<\/span> int<\/span>(<\/span>(<\/span>(<\/span>grip[<\/span>1<\/span>:<\/span>]<\/span> ><\/span> 0<\/span>)<\/span> !=<\/span> (<\/span>grip[<\/span>:<\/span>–<\/span>1<\/span>]<\/span> ><\/span> 0<\/span>)<\/span>)<\/span>.<\/span>sum<\/span>(<\/span>)<\/span>)<\/span> # \u5939\u722a\u5207\u6362\u6b21\u6570<\/span>
        \n print<\/span>(<\/span>k,<\/span> "\u6b65\u6570:"<\/span>,<\/span> len<\/span>(<\/span>actions)<\/span>,<\/span> "\u5939\u722a\u5207\u6362:"<\/span>,<\/span> toggles,<\/span>
        \n "success:"<\/span>,<\/span> bool<\/span>(<\/span>d.<\/span>attrs[<\/span>"success"<\/span>]<\/span>)<\/span>)<\/span><\/p>\n

        \u6307\u6807\u600e\u4e48\u8bfb（\u672c\u4efb\u52a1\u7684\u7ecf\u9a8c\u53c2\u8003\u503c）：<\/p>\n\n\u6307\u6807\u542b\u4e49\u5065\u5eb7\u53c2\u8003\u5f02\u5e38\u4fe1\u53f7<\/tr>\n\n\n\n\n\n\n
        steps<\/td>\n\u5355\u6761\u6f14\u793a\u6b65\u6570<\/td>\n60~600（\u65b0\u624b\u504f\u4e0a\u9650）<\/td>\n>1200 \u8fc7\u957f：\u5931\u8d25\u672a\u91cd\u5f00，\u6df7\u5165\u8bd5\u9519<\/td>\n<\/tr>\n
        grip_toggles<\/td>\n\u5939\u722a\u5f00\u5408\u6b21\u6570<\/td>\n\u22652（\u6293\u4e00\u6b21\u3001\u653e\u4e00\u6b21）<\/td>\n=0：\u6839\u672c\u6ca1\u6267\u884c\u6293\u653e\u6d41\u7a0b<\/td>\n<\/tr>\n
        jerk<\/td>\n\u76f8\u90bb\u6b65\u52a8\u4f5c\u53d8\u5316\u5747\u503c<\/td>\n\u8d8a\u5c0f\u8d8a\u5e73\u6ed1<\/td>\n\u67d0\u6761\u8fdc\u5927\u4e8e\u5176\u4ed6：\u6296\u52a8\u660e\u663e，\u8003\u8651\u91cd\u5f55<\/td>\n<\/tr>\n
        pos_move<\/td>\n\u672b\u7aef\u884c\u7a0b\u7d2f\u52a0<\/td>\n0.1~1.5 m<\/td>\n\u63a5\u8fd1 0：\u52a8\u4f5c\u6ca1\u53d1\u51fa\u53bb<\/td>\n<\/tr>\n
        success<\/td>\n\u6210\u529f\u6807\u8bb0<\/td>\n\u5168 True<\/td>\n\u51fa\u73b0 False = \u5f02\u5e38<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

        \u4ee5\u5b9e\u6d4b\u7684 3 \u6761\u952e\u76d8\u6f14\u793a\u4e3a\u4f8b，\u4f53\u68c0\u7ed3\u679c\u5982\u4e0b：<\/p>\n

        \"\u56fe<\/p>\n

        \u56fe 4：\u4e09\u6761\u771f\u5b9e\u6f14\u793a\u7684\u4f53\u68c0：demo_0 \u957f\u8fbe 1301 \u6b65（\u7591\u4f3c\u5931\u8d25\u540e\u672a\u6309 R，\u6df7\u5165\u8bd5\u9519）；\u5939\u722a\u5207\u6362\u4e0e\u6296\u52a8\u6307\u6807\u6b63\u5e38\u3002<\/p>\n

        \u8fd9\u5f20\u56fe\u4e5f\u76f4\u89c2\u8bf4\u660e\u4e86"\u5f55\u5236\u7eaa\u5f8b"\u7684\u4ef7\u503c：\u4e00\u6761\u8d85\u957f\u7684\u6f14\u793a，\u51e0\u4e4e\u603b\u662f"\u6709\u6545\u4e8b"\u7684\u2014\u2014\u591a\u534a\u662f\u5931\u8d25\u540e\u6ca1\u6709\u91cd\u5f00\u3002<\/p>\n

        5.3 \u4e09\u7ea7\u8d28\u91cf\u8bc4\u4f30<\/h4>\n

        \u4ece\u4fbf\u5b9c\u5230\u7ec8\u6781，\u6570\u636e\u8d28\u91cf\u6709\u4e09\u9053\u9a8c\u8bc1\u95f8\u95e8：<\/p>\n

        \"\u56fe<\/p>\n

        \u56fe 5：L1 \u6570\u503c\u7b5b\u67e5（\u79d2\u7ea7）\u2192 L2 \u56de\u653e\u81ea\u6d3d（\u5206\u949f\u7ea7）\u2192 L3 \u8bad\u7ec3\u53ef\u7528\u6027（\u7ec8\u6781\u5224\u636e）\u3002<\/p>\n

          \n
        • L1 \u6570\u503c\u7b5b\u67e5：\u4e0a\u9762\u7684\u4f53\u68c0\u811a\u672c，\u5f55\u5b8c\u5fc5\u8dd1；<\/li>\n
        • L2 \u56de\u653e\u81ea\u6d3d：teleop replay，\u770b\u52a8\u4f5c\u5e8f\u5217\u5728\u7269\u7406\u91cc\u80fd\u5426\u590d\u73b0（\u5982 10\/10）；<\/li>\n
        • L3 \u8bad\u7ec3\u53ef\u7528\u6027（\u7ec8\u6781）：\u628a\u6570\u636e\u5582\u7ed9\u4e0b\u6e38\u2014\u2014Mimic \u751f\u6210\u6210\u529f\u7387 \u226530% \u7b97\u53ca\u683c，BC \u7b56\u7565\u6210\u529f\u7387 >50% \u8bf4\u660e"\u6570\u636e\u771f\u7684\u80fd\u5b66\u5230\u4e1c\u897f"\u3002<\/li>\n<\/ul>\n

          6. \u4e0b\u6e38\u95ed\u73af：Mimic \u589e\u5e7f \u2192 BC \u8bad\u7ec3 \u2192 \u6210\u529f\u7387<\/h3>\n

          \u7528\u4f60\u5f55\u5236\u7684\u5c0f\u6570\u636e\u96c6，\u53ef\u4ee5\u7acb\u523b\u8d70\u5b8c\u4e00\u6761"\u6570\u636e\u2192\u7b56\u7565"\u7684\u5b8c\u6574\u56de\u8def，\u5168\u90e8\u5c0f\u89c4\u6a21\u53c2\u6570\u9002\u914d 8GB \u663e\u5b58：<\/p>\n

          \"\u56fe<\/p>\n

          \u56fe 6：\u8bc4\u4f30\u6210\u529f\u7387\u51b3\u5b9a\u4e0b\u4e00\u6b65：\u4f4e\u4e86\u56de\u7089\u91cd\u5f55，\u8fbe\u6807\u5c31\u6269\u89c4\u6a21\u3002<\/p>\n

          Step 1：\u5b50\u4efb\u52a1\u6807\u6ce8（\u7ea6 2~5 \u5206\u949f）<\/h4>\n

          .\/isaaclab.sh -p<\/span> scripts\/imitation_learning\/isaaclab_mimic\/annotate_demos.py \\\\<\/span>
          \n –task<\/span> Isaac-Stack-Cube-Franka-IK-Rel-Mimic-v0 \\\\<\/span>
          \n –visualizer<\/span> kit –auto<\/span> \\\\<\/span>
          \n –input_file<\/span> ~\/code\/isaac\/IsaacDataCollection\/datasets\/dataset_keyboard.hdf5 \\\\<\/span>
          \n –output_file<\/span> ~\/code\/isaac\/IsaacDataCollection\/datasets\/annotated_kbd.hdf5<\/p>\n

            \n
          • \u6210\u529f\u6807\u5fd7：\u7ec8\u7aef\u6253\u5370 Exported 9 (out of 10) annotated episodes.（\u6570\u5b57\u968f\u6570\u636e\u53d8\u5316）；<\/li>\n
          • \u673a\u5236：\u6807\u6ce8\u8fc7\u7a0b\u4f1a\u628a\u6bcf\u6761\u6f14\u793a\u9010\u5e27\u56de\u653e\u4e00\u904d\u5e76\u6536\u96c6\u5b50\u4efb\u52a1\u4fe1\u53f7\u2014\u2014\u56e0\u6b64\u5b83\u540c\u65f6\u662f\u4e00\u6b21\u56de\u653e\u9a8c\u8bc1：\u7ec8\u5224\u636e\u6ca1\u8fbe\u6210\u3001\u6216\u67d0\u4e2a\u5b50\u4efb\u52a1\u4fe1\u53f7\u4ece\u672a\u89e6\u53d1\u7684\u6f14\u793a\u4f1a\u88ab\u8df3\u8fc7；<\/li>\n
          • –auto \u4f9d\u8d56\u6f14\u793a\u9075\u5faa\u6807\u51c6\u6d41\u7a0b\u2014\u2014\u8fd9\u6b63\u662f\u7b2c 4 \u8282\u5f3a\u8c03"\u53e0\u653e\u987a\u5e8f\u4e00\u81f4"\u7684\u539f\u56e0\u3002<\/li>\n<\/ul>\n

            Step 2：\u89c4\u6a21\u5316\u751f\u6210（\u5148\u5c0f\u540e\u5927）<\/h4>\n

            # \u5c0f\u89c4\u6a21\u9a8c\u8bc1<\/span>
            \n.\/isaaclab.sh -p<\/span> scripts\/imitation_learning\/isaaclab_mimic\/generate_dataset.py \\\\<\/span>
            \n –visualizer<\/span> kit –num_envs<\/span> 16<\/span> –generation_num_trials<\/span> 10<\/span> \\\\<\/span>
            \n –input_file<\/span> ~\/code\/isaac\/IsaacDataCollection\/datasets\/annotated_kbd.hdf5 \\\\<\/span>
            \n –output_file<\/span> ~\/code\/isaac\/IsaacDataCollection\/datasets\/generated_kbd_small.hdf5<\/p>\n

            # \u8dd1\u901a\u540e\u653e\u5927（8GB \u663e\u5b58\u5efa\u8bae –num_envs 32~64）<\/span>
            \n.\/isaaclab.sh -p<\/span> scripts\/imitation_learning\/isaaclab_mimic\/generate_dataset.py \\\\<\/span>
            \n –num_envs<\/span> 32<\/span> –generation_num_trials<\/span> 100<\/span> \\\\<\/span>
            \n –input_file<\/span> ~\/code\/isaac\/IsaacDataCollection\/datasets\/annotated_kbd.hdf5 \\\\<\/span>
            \n –output_file<\/span> ~\/code\/isaac\/IsaacDataCollection\/datasets\/generated_kbd_100.hdf5<\/p>\n

              \n
            • \u751f\u6210\u6210\u529f\u7387\u662f\u672c\u4efb\u52a1\u6700\u76f4\u63a5\u7684\u6570\u636e\u8d28\u91cf\u4fe1\u53f7（\u5b98\u65b9\u53c2\u8003：state \u6a21\u5f0f\u7ea6 40%；\u79cd\u5b50\u548c\u6807\u6ce8\u8d28\u91cf\u597d\u53ef\u4ee5\u66f4\u9ad8）；<\/li>\n
            • \u5931\u8d25\u8f68\u8ff9\u81ea\u52a8\u4e22\u5f03，\u53ea\u5bfc\u51fa\u6210\u529f\u6f14\u793a；<\/li>\n
            • \u6ce8\u610f –generation_num_trials \u7684\u8bed\u4e49：\u9ed8\u8ba4\u662f**\u201c\u76ee\u6807\u6210\u529f\u6761\u6570\u201d**（\u5931\u8d25\u81ea\u52a8\u91cd\u8bd5\u76f4\u5230\u6512\u591f），\u4e0d\u662f"\u5c1d\u8bd5\u6b21\u6570"；<\/li>\n
            • \u4e00\u6761\u5b9e\u6d4b\u53c2\u8003：9 \u6761\u79cd\u5b50\u6f14\u793a\u3001–num_envs 16\u3001\u76ee\u6807 10 \u6761\u2014\u201410\/10 \u6210\u529f，\u7ea6 17 \u5206\u949f\u3002\u53e6\u6709\u4e00\u6b21\u66f4\u5927\u89c4\u6a21\u7684\u5b9e\u6d4b：30 \u6761\u79cd\u5b50 \u2192 \u6807\u6ce8 29 \u6761 \u2192 \u81ea\u52a8\u751f\u6210 300 \u6761\u5b8c\u6574\u6f14\u793a（\u7ea6 23.7 \u4e07\u5e27）\u3002<\/li>\n<\/ul>\n

              Step 3：\u884c\u4e3a\u514b\u9686\u8bad\u7ec3（\u7ea6 10~30 \u5206\u949f）<\/h4>\n

              .\/isaaclab.sh -p<\/span> scripts\/imitation_learning\/robomimic\/train.py \\\\<\/span>
              \n –task<\/span> IsaacContrib-Stack-Cube-Franka-IK-Rel \\\\<\/span>
              \n –algo<\/span> bc<\/span> \\\\<\/span>
              \n –dataset<\/span> ~\/code\/isaac\/IsaacDataCollection\/datasets\/generated_kbd_100.hdf5<\/p>\n

              \u8bad\u7ec3\u65e5\u5fd7\u4e0e checkpoint \u5728 logs\/robomimic\/…（\u7ec8\u7aef\u4f1a\u6253\u5370\u8def\u5f84）\u3002\u5148\u7528\u5c0f\u6570\u636e\u96c6\u8dd1 20~50 epoch \u9a8c\u8bc1\u94fe\u8def\u5373\u53ef\u3002<\/p>\n

              Step 4：\u7b56\u7565\u56de\u653e\u8bc4\u4f30<\/h4>\n

              .\/isaaclab.sh -p<\/span> scripts\/imitation_learning\/robomimic\/play.py \\\\<\/span>
              \n –task<\/span> IsaacContrib-Stack-Cube-Franka-IK-Rel \\\\<\/span>
              \n –visualizer<\/span> kit –num_rollouts<\/span> 20<\/span> \\\\<\/span>
              \n –checkpoint<\/span> <<\/span>\u8bad\u7ec3\u8f93\u51fa\u76ee\u5f55><\/span>\/models\/model_xxx.pth<\/p>\n

              \u7ec8\u7aef\u8f93\u51fa 20 \u6b21\u56de\u653e\u7684\u6210\u529f\u7387\u3002\u53ef\u4ee5\u591a\u8bd5\u51e0\u4e2a checkpoint（\u4e0d\u540c\u8bad\u7ec3\u9636\u6bb5\u5dee\u5f02\u53ef\u80fd\u5f88\u5927）\u3002<\/p>\n

              Step 5：\u95ed\u73af\u51b3\u7b56<\/h4>\n\n\u89c2\u5bdf\u5224\u65ad\u884c\u52a8<\/tr>\n\n\n\n\n
              \u751f\u6210\u6210\u529f\u7387 \u226530%，BC \u6210\u529f\u7387 >50%<\/td>\n\u6570\u636e\u94fe\u8def\u6709\u6548 \u2705<\/td>\n\u6269\u89c4\u6a21：\u8865\u5f55\u5230 20~30 \u6761 \u2192 \u751f\u6210 1000 \u6761 \u2192 \u5b8c\u6574\u8bad\u7ec3<\/td>\n<\/tr>\n
              \u751f\u6210\u6210\u529f\u7387 <20%<\/td>\n\u79cd\u5b50\u6f14\u793a\u7ed3\u6784\u6df7\u4e71<\/td>\n\u56de\u7b2c 4 \u8282\u7edf\u4e00\u6d41\u7a0b\u91cd\u5f55；\u68c0\u67e5\u6807\u6ce8\u8fb9\u754c<\/td>\n<\/tr>\n
              BC \u6210\u529f\u7387 <20%<\/td>\n\u6570\u636e\u91cf\u4e0d\u8db3\u6216\u8986\u76d6\u5355\u4e00<\/td>\n\u8865\u91c7\u591a\u6837\u5316\u6f14\u793a（\u6362\u65b9\u4f4d\u3001\u6362\u8def\u5f84）；\u589e\u52a0\u751f\u6210\u6761\u6570<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

              \u6570\u636e\u7ba1\u7406\u5efa\u8bae：\u539f\u59cb \/ \u6807\u6ce8 \/ \u751f\u6210\u6587\u4ef6\u5206\u540d\u5b58\u653e（dataset_* \/ annotated_* \/ generated_*），\u6bcf\u6b21\u91cd\u5f55\u6362\u65b0\u6587\u4ef6\u540d\u2014\u2014\u5f55\u5236\u5668\u6253\u5f00\u540c\u540d\u6587\u4ef6\u4f1a\u76f4\u63a5\u8986\u76d6\u3002<\/p>\n

              7. \u5e38\u89c1\u5751（\u5b9e\u6d4b\u63d0\u9192）<\/h3>\n\n\u73b0\u8c61\u539f\u56e0\u89e3\u51b3<\/tr>\n\n\n\n\n\n\n\n\n\n
              \u62a5\u9519 Downloaded Isaac Sim packages cannot be combined with a Python virtual environment<\/td>\n\u865a\u62df\u73af\u5883\u4e0d\u662f\u57fa\u4e8e Isaac Sim \u81ea\u5e26 Python \u5efa\u7684<\/td>\n\u6309\u5b98\u65b9\u5b89\u88c5\u6587\u6863\u91cd\u5efa\u73af\u5883<\/td>\n<\/tr>\n
              \u624b\u67c4\u6307\u5b9a\u540e\u62a5\u9519 Built-in devices: keyboard, spacemouse<\/td>\n\u5b98\u65b9\u5f55\u5236\u811a\u672c\u672a\u6ce8\u518c gamepad<\/td>\n\u5728\u4efb\u52a1\u914d\u7f6e\u91cc\u6ce8\u518c gamepad \u6761\u76ee（\u89c1 3.2）<\/td>\n<\/tr>\n
              \u952e\u76d8\/\u624b\u67c4\u6309\u4e86\u6ca1\u53cd\u5e94<\/td>\n\u7126\u70b9\u5728\u7ec8\u7aef<\/td>\n\u70b9\u51fb Isaac \u7a97\u53e3\u518d\u64cd\u4f5c<\/td>\n<\/tr>\n
              \u9000\u51fa\u540e\u6f14\u793a\u6761\u6570\u5c11\u4e8e –num_demos<\/td>\n\u53ea\u5bfc\u51fa\u6210\u529f\u6f14\u793a；\u6216\u4e2d\u9014 Ctrl+C<\/td>\n\u5c5e\u6b63\u5e38\u884c\u4e3a，\u7ee7\u7eed\u5f55\u5236\u5373\u53ef<\/td>\n<\/tr>\n
              \u540c\u540d\u6570\u636e\u96c6\u88ab\u8986\u76d6<\/td>\n\u5f55\u5236\u5668 w \u6a21\u5f0f\u6253\u5f00\u540c\u540d\u6587\u4ef6<\/td>\n\u6bcf\u6b21\u6362\u65b0\u6587\u4ef6\u540d<\/td>\n<\/tr>\n
              Success condition met \u540e\u6309 R \u6ca1\u53cd\u5e94<\/td>\n\u6210\u529f\u89e6\u53d1\u540e\u7684\u77ed\u6682\u4fdd\u62a4\u7a97\u53e3<\/td>\n\u7b49\u81ea\u52a8\u91cd\u7f6e（\u7ec8\u7aef\u6709\u63d0\u793a）<\/td>\n<\/tr>\n
              \u751f\u6210\u9636\u6bb5\u663e\u5b58\u4e0d\u8db3（OOM）<\/td>\n–num_envs \u592a\u5927<\/td>\n\u964d\u5230 16~32（8GB \u7ea7\u663e\u5361）<\/td>\n<\/tr>\n
              replay \u5931\u8d25\u4e2a\u522b\u6761<\/td>\n\u8be5\u6761\u4f9d\u8d56\u4eba\u7c7b\u5b9e\u65f6\u4fee\u6b63<\/td>\n\u91cd\u5f55\u8be5\u6761（\u653e\u6162\u3001\u89c4\u5212\u597d\u8def\u5f84）<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

              8. \u9884\u8ba1\u8017\u65f6\u4e0e\u5c0f\u7ed3<\/h3>\n\n\u9636\u6bb5\u9996\u6b21\u8017\u65f6\u53c2\u8003<\/tr>\n\n\n\n\n\n\n\n
              \u70ed\u8eab\u719f\u6089\u8bbe\u5907<\/td>\n30~60 \u5206\u949f<\/td>\n<\/tr>\n
              \u5f55\u5236 10 \u6761<\/td>\n30~60 \u5206\u949f（\u65b0\u624b\u5355\u6761 1~3 \u5206\u949f）<\/td>\n<\/tr>\n
              \u56de\u653e + \u4f53\u68c0<\/td>\n15 \u5206\u949f<\/td>\n<\/tr>\n
              \u6807\u6ce8 + \u5c0f\u89c4\u6a21\u751f\u6210<\/td>\n10~20 \u5206\u949f<\/td>\n<\/tr>\n
              BC \u8bad\u7ec3 + \u56de\u653e\u8bc4\u4f30<\/td>\n20~40 \u5206\u949f<\/td>\n<\/tr>\n
              \u5408\u8ba1<\/td>\n\u7ea6\u534a\u5929<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

              \u5c0f\u7ed3\u4e09\u53e5\u8bdd：<\/p>\n

                \n
              • \u5f55\u6570\u636e = \u4e00\u79cd\u53ef\u4ee5\u7ec3\u4e60\u7684\u624b\u827a：\u624b\u52bf\u8282\u594f\u3001\u5931\u8d25\u91cd\u5f00\u3001\u987a\u5e8f\u4e00\u81f4，\u4e09\u6761\u7eaa\u5f8b\u51b3\u5b9a\u6570\u636e\u4e0a\u9650；<\/li>\n
              • \u68c0\u67e5\u6709\u68af\u5ea6：\u6570\u503c\u4f53\u68c0（\u79d2\u7ea7）\u2192 \u56de\u653e（\u5206\u949f\u7ea7）\u2192 \u8bad\u7ec3\u95ed\u73af（\u7ec8\u6781），\u6bcf\u4e00\u6b65\u90fd\u4fbf\u5b9c\u4e14\u6709\u6548；<\/li>\n
              • \u5c0f\u6570\u636e\u4e5f\u80fd\u95ed\u73af：10 \u6761\u79cd\u5b50\u5c31\u8db3\u4ee5\u8dd1\u901a"\u5f55\u5236 \u2192 \u589e\u5e7f \u2192 \u8bad\u7ec3 \u2192 \u8bc4\u4f30"\u5168\u6d41\u7a0b，\u4e4b\u540e\u7684\u4e00\u5207\u53ea\u662f\u89c4\u6a21\u95ee\u9898\u3002<\/li>\n<\/ul>\n

                \u7cfb\u5217\u5bfc\u822a：<\/p>\n

                  \n
                • （\u4e00）\u6570\u636e\u91c7\u96c6\u65b9\u6cd5\u603b\u89c8：\u4e94\u7c7b\u91c7\u96c6\u65b9\u5f0f（\u9065\u64cd\u4f5c\u3001\u52a8\u6355\u3001UMI\u3001EGO\u3001\u4eff\u771f\u751f\u6210）\u7684\u539f\u7406\u3001\u6570\u636e\u683c\u5f0f\u4e0e\u4e0a\u624b\u8def\u5f84；<\/li>\n
                • （\u4e09）Isaac Sim \u4eff\u771f\u9065\u64cd\u91c7\u96c6\u4e0e\u771f\u673a\u91c7\u96c6\u5bf9\u6bd4：\u4e24\u6761\u6570\u636e\u8def\u7ebf\u653e\u5728\u4e00\u8d77\u9010\u9879\u5bf9\u7167；<\/li>\n
                • （\u56db）HDF5 \u683c\u5f0f\u8be6\u89e3：\u6570\u636e\u96c6\u7ed3\u6784\u3001\u53ef\u89c6\u5316\u4e0e\u6570\u636e\u5904\u7406\u5b9e\u6218\u3002<\/li>\n<\/ul>\n

                  \u9879\u76ee\u4ed3\u5e93（\u5f00\u6e90）：github.com\/huangqiulong\/IsaacDataCollection \u2014\u2014 \u5168\u90e8\u6587\u7ae0\u3001\u914d\u5957\u811a\u672c\u4e0e\u56fe\u8868\u6e90\u7801\u3002<\/p>\n

                  \u53c2\u8003\u8d44\u6599<\/h3>\n
                    \n
                  • Isaac Sim \u5b98\u65b9\u9875 \u00b7 Isaac Lab \u5b98\u65b9\u6587\u6863<\/li>\n
                  • Isaac Lab \u6a21\u4eff\u5b66\u4e60\u4e0e\u9065\u64cd\u4f5c\u6587\u6863（teleop_imitation）<\/li>\n
                  • robomimic \u6570\u636e\u96c6\u89c4\u8303<\/li>\n<\/ul>\n
                    \n

                    \u672c\u6587\u5b9e\u6d4b\u6570\u636e\u6765\u81ea Isaac Sim 6.1 + Isaac Lab 3.0 \u73af\u5883（\u5355\u5361 RTX 4070 Laptop 8GB）：\u952e\u76d8\/\u624b\u67c4\u5f55\u5236\u3001\u56de\u653e\u3001Mimic \u751f\u6210\u7b49\u5747\u4e3a\u771f\u5b9e\u8fd0\u884c\u7ed3\u679c\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

                    \u9065\u64cd\u4f5c\u5b9e\u64cd\u624b\u518c：Franka \u645e\u65b9\u5757（\u952e\u76d8 \/ Xbox360 \/ \u9f20\u6807）（\u4e8c）
                    \n\u8fd9\u662f\u7cfb\u5217\u7684\u7b2c\u4e8c\u7bc7\u3002\u4e0a\u4e00\u7bc7\u6211\u4eec\u628a\u4e94\u7c7b\u6570\u636e\u91c7\u96c6\u65b9\u5f0f\u8fc7\u4e86\u4e00\u904d；\u8fd9\u4e00\u7bc7\u628a\u5176\u4e2d\u7684\\”\u9065\u64cd\u4f5c\u5f55\u6570\\”\u8fd9\u6761\u4ea7\u7ebf\u4ece\u5934\u5230\u5c3e\u8d70\u4e00\u904d：\u5728 Isaac Sim \/ Isaac Lab \u91cc\u7528\u4e09\u79cd\u8f93\u5165\u8bbe\u5907\u9065\u64cd\u4f5c Franka \u673a\u68b0\u81c2\u5b8c\u6210\\”\u4e09\u5757\u79ef\u6728\u53e0\u5854\\”，\u5f55\u5236\u6570\u636e\u96c6，\u5e76\u8dd1\u901a\u300c\u6570\u636e\u68c0\u67e5 \u2192 \u8d28\u91cf\u8bc4\u4f30 \u2192 <\/p>\n","protected":false},"author":2,"featured_media":117000,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[168],"topic":[],"class_list":["post-117006","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-server","tag-168"],"yoast_head":"\n\u9065\u64cd\u4f5c\u5b9e\u64cd\u624b\u518c\uff1aFranka \u645e\u65b9\u5757\uff08\u952e\u76d8 \/ Xbox360 \/ \u9f20\u6807\uff09\uff08\u4e8c\uff09 - 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