usage: esptool [-h] [--chip {auto,esp8266,esp32}] [--port PORT] [--baud BAUD]
[--before {default_reset,no_reset,no_reset_no_sync}]
[--after {hard_reset,soft_reset,no_reset}] [--no-stub]
[--trace] [--override-vddsdio [{1.8V,1.9V,OFF}]]
{load_ram,dump_mem,read_mem,write_mem,write_flash,run,image_info,make_image,elf2image,read_mac,chip_id,flash_id,read_flash_status,write_flash_status,read_flash,verify_flash,erase_flash,erase_region,version}
If you just run the tool, suppose it runs, it should give you this. So yes, give port and baud rate manually. Port is critical to get it right but baud could be say 460800 to 2000000 depending on your board's USB UART chip's quality. This tool is not strictly speaking an arduino tool. If you were given firmware images that go with esptool.py, it's possible the firmware was compiled with esp-arduino or not. You should ask the person who gave you the code for support.
As an example, here is a command:
/esptool.py --chip esp32 --port COM24 --baud 460800 --before default_reset --after hard_reset write_flash -z --flash_mode dio --flash_freq 40m --flash_size detect 0x10000 /home/user/esp/Projects/tests/hello_world/build/hello-world.bin
That "at/1024+1024/user1.2048.new.5.bin" seems to be the path to this file you should flash to address 0x01000
I don't know what you're doing with this but I don't see any partition table file etc.