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Windows配置问题+100回合结果+深度问题 #119

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4 changes: 2 additions & 2 deletions baselines/navdp/navdp_server.py
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Original file line number Diff line number Diff line change
Expand Up @@ -42,12 +42,12 @@ def navdp_reset():

if navdp_fps_writer is None:
format_time = datetime.datetime.fromtimestamp(time.time())
format_time = format_time.strftime("%Y-%m-%d %H:%M:%S")
format_time = format_time.strftime("%Y-%m-%d %H-%M-%S")
navdp_fps_writer = imageio.get_writer("{}_fps_pointgoal.mp4".format(format_time),fps=7)
else:
navdp_fps_writer.close()
format_time = datetime.datetime.fromtimestamp(time.time())
format_time = format_time.strftime("%Y-%m-%d %H:%M:%S")
format_time = format_time.strftime("%Y-%m-%d %H-%M-%S")
navdp_fps_writer = imageio.get_writer("{}_fps_pointgoal.mp4".format(format_time),fps=7)
return jsonify({"algo":"navdp"})

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2 changes: 2 additions & 0 deletions eval_nogoal_wheeled.py
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
import argparse
import tensordict # 提前加载，绕开 IsaacSim 进程内 C 扩展冲突（2026-08-07 修复）
from omni.isaac.lab.app import AppLauncher

parser = argparse.ArgumentParser(description="A script to run a car control simulation")
Expand Down Expand Up @@ -213,6 +214,7 @@ def planning_thread(env, camera_intrinsic):
with torch.inference_mode():
images = infos['observations']['rgb'].cpu().numpy()[:,:,:,0:3]
depths = infos['observations']['depth'].cpu().numpy()[:,:,:]
print(f"相机检测{images[0].mean():.2f}深度检测{depths[0].mean():.3f}")

camera_pos = env.unwrapped.scene.sensors['camera_sensor'].data.pos_w.cpu().numpy()
camera_rot_quat = env.unwrapped.scene.sensors['camera_sensor'].data.quat_w_world.cpu().numpy()
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11 changes: 11 additions & 0 deletions nogoal_navdp_cluttered_easy/cluttered_easy/easy_0 - 第一轮/metric.csv
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@@ -0,0 +1,11 @@
time,area
3.0,4.8100000000000005
0.15,4.8
0.15,8.57
0.15,9.4
120.0,252.99
0.15,7.0600000000000005
38.85,69.92
0.15,8.91
0.15,9.49
0.15,7.16
101 changes: 101 additions & 0 deletions nogoal_navdp_cluttered_easy/cluttered_easy/easy_0 - 第三轮100次 86最好/metric.csv
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@@ -0,0 +1,101 @@
time,area
118.5,232.77
0.15,8.370000000000001
0.15,8.5
0.15,9.46
14.399999999999999,28.47
0.15,2.81
60.0,87.52
0.15,0.41000000000000003
120.0,260.53000000000003
0.15,9.46
0.15,4.3
5.25,12.48
0.15,3.72
0.15,6.94
0.15,8.790000000000001
0.15,6.68
120.0,261.54
0.15,9.6
120.0,255.47
0.15,4.84
0.15,7.17
0.15,5.89
120.0,240.23000000000002
0.15,0.01
0.15,4.91
0.15,7.29
0.15,8.19
120.0,250.4
120.0,246.27
0.15,9.620000000000001
120.0,237.82
0.15,8.11
0.15,5.91
0.15,6.84
120.0,232.20000000000002
0.15,0.01
120.0,263.27
0.15,8.59
0.15,8.86
0.15,0.73
0.15,6.05
0.15,9.46
120.0,178.29
0.15,0.01
0.15,0.12
0.15,6.05
0.15,5.69
0.15,8.74
120.0,236.45000000000002
0.15,0.01
120.0,263.19
120.0,231.36
0.15,0.6900000000000001
0.15,8.19
0.15,7.9
0.15,9.31
120.0,269.68
11.549999999999999,23.56
0.15,7.84
0.15,9.25
0.15,5.0600000000000005
120.0,249.42000000000002
0.15,0.14
0.15,2.72
0.15,7.48
0.15,9.75
0.15,1.78
0.15,7.21
52.8,88.26
0.15,0.06
7.199999999999999,20.26
0.15,0.87
120.0,225.08
120.0,254.45000000000002
0.15,8.69
0.15,5.96
120.0,256.23
0.15,9.02
120.0,266.36
0.15,7.42
0.15,6.79
0.15,8.97
0.15,9.290000000000001
2.1,19.64
120.0,252.96
0.15,6.76
120.0,275.96
0.15,8.77
0.15,6.61
0.3,11.11
0.15,2.36
120.0,248.56
0.15,8.13
120.0,195.6
11.4,24.2
0.15,0.56
0.15,9.73
0.15,8.14
0.15,8.01
0.15,8.96
11 changes: 11 additions & 0 deletions nogoal_navdp_cluttered_easy/cluttered_easy/easy_0 - 第二轮/metric.csv
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@@ -0,0 +1,11 @@
time,area
118.5,245.09
0.15,7.8500000000000005
0.15,8.49
0.15,9.68
59.849999999999994,130.73
31.2,51.660000000000004
0.15,3.16
0.15,7.9
0.15,9.91
0.15,7.54
3 changes: 3 additions & 0 deletions nogoal_navdp_cluttered_easy/cluttered_easy/easy_0 - 第四轮 无深度/metric.csv
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@@ -0,0 +1,3 @@
time,area
43.5,64.3
0.15,1.25
217 changes: 217 additions & 0 deletions requirements_win.txt
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@@ -0,0 +1,217 @@
absl-py==2.1.0
addict==2.4.0
aiodns==3.1.1
aiofiles==23.2.1
aiohttp==3.9.4
aioitertools==0.11.0
aiosignal==1.3.1
alphashape==1.3.1
annotated-types==0.7.0
antlr4-python3-runtime==4.9.3
anyio==4.4.0
asteval==0.9.32
asttokens==3.0.0
async-timeout==4.0.3
attrs==23.2.0
azure-core==1.28.0
azure-identity==1.13.0
azure-storage-blob==12.17.0
backcall==0.2.0
beautifulsoup4==4.13.4
bleach==6.2.0
blinker==1.9.0
casadi==3.7.0
cchardet==2.1.7
certifi==2024.7.4
cffi==1.17.0
charset-normalizer==3.3.2
click==8.1.7
click-log==0.4.0
cloudpickle==3.1.1
comm==0.2.2
ConfigArgParse==1.7
construct==2.10.68
contourpy==1.3.1
coverage==7.4.4
cryptography==42.0.7
cycler==0.11.0
dash==2.18.2
dash-core-components==2.0.0
dash-html-components==2.0.0
dash-table==5.0.0
decorator==4.4.2
defusedxml==0.7.1
diffusers==0.33.1
docopt==0.6.2
einops==0.8.1
exceptiongroup==1.2.2
executing==2.2.0
Farama-Notifications==0.0.4
fastapi==0.110.0
fastjsonschema==2.21.1
filelock==3.13.1
Flask==3.0.3
fonttools==4.56.0
frozenlist==1.4.1
fsspec==2024.2.0
gitdb==4.0.12
GitPython==3.1.44
grpcio==1.70.0
gunicorn==22.0.0
gymnasium==0.29.0
h11==0.14.0
h5py==3.13.0
hidapi==0.14.0.post2
httptools==0.6.1
huggingface-hub==0.29.2
hydra-core==1.3.2
idna==3.7
idna-ssl==1.1.0
imageio==2.37.0
imageio-ffmpeg==0.6.0
importlib_metadata==8.6.1
ipython==8.12.3
ipywidgets==8.1.5
isaaclab==2.0.2
isodate==0.6.1
itsdangerous==2.2.0
jedi==0.19.2
Jinja2==3.1.4
jmespath==1.0.1
joblib==1.4.2
jsonschema==4.23.0
jsonschema-specifications==2024.10.1
jupyter_client==8.6.3
jupyter_core==5.7.2
jupyterlab_pygments==0.3.0
jupyterlab_widgets==3.0.13
kiwisolver==1.4.4
lazy_loader==0.4
llvmlite==0.42.0
lxml==5.2.2
Markdown==3.7
markdown-it-py==3.0.0
MarkupSafe==2.1.5
mathutils==3.3.0
matplotlib==3.8.4
matplotlib-inline==0.1.7
mdurl==0.1.2
mistune==3.1.3
moviepy==1.0.3
mpmath==1.3.0
msal==1.23.0
msal-extensions==1.0.0
multidict==6.0.5
nbclient==0.10.2
nbconvert==7.16.6
nbformat==5.10.4
nest-asyncio==1.5.6
networkx==3.2.1
ninja==1.11.1.3
numba==0.59.1
numpy==1.26.0
numpy-quaternion==2023.0.3
oauthlib==3.2.2
omegaconf==2.3.0
onnx==1.16.1
open3d==0.19.0
opencv-python==4.11.0.86
osqp==0.6.5
packaging==23.0
pandas==2.2.3
pandocfilters==1.5.1
parso==0.8.4
pathfinding==1.0.16
pexpect==4.9.0
pickleshare==0.7.5
pillow==11.0.0
Pint==0.20.1
pipreqs==0.5.0
platformdirs==4.3.6
plotly==5.3.1
portalocker==2.7.0
prettytable==3.3.0
proglog==0.1.10
prompt_toolkit==3.0.50
protobuf==4.25.6
psutil==5.9.8
ptyprocess==0.7.0
pure_eval==0.2.3
pycares==4.3.0
pycocotools==2.0.8
pycparser==2.22
pydantic==2.8.2
pydantic_core==2.20.1
pyglet==1.5.31
Pygments==2.19.1
pynput==1.8.1
pyparsing==3.0.9
pyperclip==1.8.0
pypng==0.20220715.0
pyquaternion==0.9.9
python-dateutil==2.9.0.post0
python-multipart==0.0.9
pytz==2024.1
PyYAML==6.0.1
pyzmq==26.4.0
qdldl==0.1.7.post1
qrcode==7.4.2
referencing==0.36.2
regex==2024.11.6
requests==2.31.0
requests-oauthlib==1.3.1
retrying==1.3.4
rich==14.0.0
rpds-py==0.22.3
rsl-rl-lib==2.3.1
rtree==1.4.0
s3transfer==0.6.1
safetensors==0.5.3
scikit-image==0.25.1
scikit-learn==1.6.1
scipy==1.11.2
selenium==4.14.0
sentry-sdk==1.43.0
setuptools-scm==8.0.4
shapely==2.0.7
six==1.16.0
smmap==5.0.2
sniffio==1.3.1
soupsieve==2.7
stack-data==0.6.3
starlette==0.36.3
sympy==1.13.1
tenacity==9.0.0
tensorboard==2.19.0
tensorboard-data-server==0.7.2
termcolor==3.0.1
terminaltables==3.1.10
threadpoolctl==3.5.0
tifffile==2025.1.10
tinycss2==1.4.0
tokenizers==0.21.0
toml==0.10.2
tomli==2.0.1
tornado==6.2
tqdm==4.67.1
traitlets==5.14.3
transformers==4.49.0
trimesh==4.6.4
typing_extensions==4.11.0
tzdata==2025.1
urllib3==2.2.2
usd-core==25.5.1
uvicorn==0.29.0
warp-lang==1.6.1
watchdog==4.0.0
wcwidth==0.2.13
webbot==0.34
webencodings==0.5.1
websockets==12.0
Werkzeug==3.0.6
widgetsnbextension==4.0.13
wrapt==1.16.0
yapf==0.43.0
yarg==0.1.9
yarl==1.9.4
zipp==3.21.0
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