[Robot RL][Isaac Sim 5.0][IsaacLab][window][1-1] 초보 – From CAD(ex fusion 360) to RL: Integrating Your Custom Robot into Isaac Sim

1. fusion -> urdf

2. urdf -> usd

3. Create own custom isaacLab project folder using isaacsim.bat

in anaconda terminal

conda activate env_isaaclab
isaaclab.bat –new

[INFO] Installing template dependencies...  
  
[INFO] Running template generator...  
  
? Task type: External  
? Project path: C:\Users\-\Downloads\workspace\leg_v1  
? Project name: my_leg_v1  
  
RL environment features support according to Isaac Lab workflows  
┏━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━┳━━━━━━━━┳━━━━━━━━━━━━━━━┓  
┃ Environment feature ┃ Direct ┃ Manager-based ┃  
┡━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━╇━━━━━━━━╇━━━━━━━━━━━━━━━┩  
│ Single-agent │ yes │ yes │  
│ Multi-agent │ yes │ no │  
│ Fundamental/composite spaces (apart from 'Box') │ yes │ no │  
└─────────────────────────────────────────────────┴────────┴───────────────┘  
? Isaac Lab workflow: Direct | single-agent  
  
Supported RL libraries  
┏━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━┳━━━━━━━━━━┳━━━━━━━━━┳━━━━━━━━━━━━━━━━━━━━━━━┳━━━━━━━━━┓  
┃ RL/training feature ┃ rl_games ┃ rsl_rl ┃ skrl ┃ sb3 ┃  
┡━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━╇━━━━━━━━━━╇━━━━━━━━━╇━━━━━━━━━━━━━━━━━━━━━━━╇━━━━━━━━━┩  
│ ML frameworks │ PyTorch │ PyTorch │ PyTorch, JAX │ PyTorch │  
│ Relative performance │ ~1X │ ~1X │ ~1X │ ~0.03X │  
│ Algorithms │ PPO │ PPO │ AMP, IPPO, MAPPO, PPO │ PPO │  
│ Multi-agent support │ no │ no │ yes │ no │  
│ Distributed training │ yes │ no │ yes │ no │  
│ Vectorized training │ yes │ yes │ yes │ no │  
│ Fundamental/composite spaces │ no │ no │ yes │ no │  
└──────────────────────────────┴──────────┴─────────┴───────────────────────┴─────────┘  
? RL library: rsl_rl, skrl  
? RL algorithms for skrl: PPO  
  
Validating specification...  
Generating external project...  
|-- Copying repo files...  
|-- Copying scripts...  
|-- Copying extension files...  
|-- Generating tasks...  
| |-- Generating 'Template-My-Leg-V1-Direct-v0' task...  
|-- Copying vscode files...  
Setting up git repo in C:\Users\-\Downloads\workspace\leg_v1\my_leg_v1 path...  
| Initialized empty Git repository in C:/Users/-/Downloads/workspace/leg_v1/my_leg_v1/.git/  
  
--------------------------------------------------------------------------------  
Project 'my_leg_v1' generated successfully in C:\Users\-\Downloads\workspace\leg_v1\my_leg_v1 path.  
See C:\Users\-\Downloads\workspace\leg_v1\my_leg_v1/README.md to get started!  
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4.