[software] 添加16DOF早期训练仿真与Sim2Real闭环

2026-07-21 16:15:14 +08:00
parent 9bd22225f9
commit e9e2c946b3
681 changed files with 137221 additions and 8 deletions
@@ -0,0 +1,99 @@
+{
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Use W&B offline"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "!wandb offline"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## **Or** login using an API from your W&B account"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "!wandb login"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Now you are set to run the demo!"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {
+    "colab": {
+     "base_uri": "https://localhost:8080/"
+    },
+    "id": "AqSj5JwRz_Lw",
+    "outputId": "4c299831-6279-430e-ca8e-f2a58e8f4720"
+   },
+   "outputs": [],
+   "source": "import subprocess\nimport sys\n\nprocess = subprocess.Popen(\n  [\n    \"uvx\",\n    \"--refresh\",\n    \"--from\",\n    \"mjlab==1.2.0\",\n    \"demo\",\n  ],\n  stdout=subprocess.PIPE,\n  stderr=subprocess.STDOUT,\n  universal_newlines=True,\n  bufsize=1,\n)\n\nfor line in process.stdout:\n  print(line, end=\"\")\n  sys.stdout.flush()\n\n  if \"serving\" in line.lower() or \"running on\" in line.lower() or \"8081\" in line:\n    print(\"\\n\" + \"=\" * 50)\n    print(\"✅ Server is running! Execute the next cell to view.\")\n    print(\"=\" * 50)\n    break"
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {
+    "colab": {
+     "base_uri": "https://localhost:8080/",
+     "height": 421
+    },
+    "id": "i7xycbkt1MFB",
+    "outputId": "7fae85cc-1678-4f59-f700-688fbdc6fb84"
+   },
+   "outputs": [],
+   "source": [
+    "from google.colab import output\n",
+    "\n",
+    "output.serve_kernel_port_as_iframe(8081)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {
+    "id": "1IhDzu_i1uQt"
+   },
+   "outputs": [],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "accelerator": "GPU",
+  "colab": {
+   "gpuType": "T4",
+   "provenance": []
+  },
+  "kernelspec": {
+   "display_name": "Python 3",
+   "name": "python3"
+  },
+  "language_info": {
+   "name": "python"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 0
+}