File size: 3,150 Bytes
d6b3397 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 | # Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Deploy a LEAPP-exported policy in an Isaac Lab simulation."""
"""Launch Isaac Sim Simulator first."""
import argparse
import sys
from isaaclab.app import AppLauncher
parser = argparse.ArgumentParser(description="Deploy a LEAPP-exported policy in simulation.")
parser.add_argument("--task", type=str, default=None, help="Name of the registered Isaac Lab task.")
parser.add_argument("--leapp_model", type=str, default=None, help="Path to the LEAPP .yaml pipeline description.")
parser.add_argument("--seed", type=int, default=None, help="Seed for the environment.")
AppLauncher.add_app_launcher_args(parser)
args_cli, hydra_args = parser.parse_known_args()
if args_cli.task is None or args_cli.leapp_model is None:
missing_args = []
if args_cli.task is None:
missing_args.append("--task")
if args_cli.leapp_model is None:
missing_args.append("--leapp_model")
parser.error(f"the following arguments are required: {', '.join(missing_args)}")
sys.argv = [sys.argv[0]] + hydra_args
app_launcher = AppLauncher(args_cli)
simulation_app = app_launcher.app
"""Rest everything follows."""
import torch
from isaaclab.envs.leapp_deployment_env import LeappDeploymentEnv
import isaaclab_tasks # noqa: F401
from isaaclab_tasks.utils.parse_cfg import load_cfg_from_registry
def main():
# ── Load env config from gym registry ─────────────────────────
task_name = args_cli.task.split(":")[-1]
env_cfg = load_cfg_from_registry(task_name, "env_cfg_entry_point")
if args_cli.seed is not None:
env_cfg.seed = args_cli.seed
if args_cli.device is not None:
env_cfg.sim.device = args_cli.device
# ── Create deploy env ─────────────────────────────────────────
env = LeappDeploymentEnv(env_cfg, args_cli.leapp_model)
if getattr(args_cli, "headless", False):
print(
"[WARN]: Running deploy without a viewport. This happens when headless mode is active, "
"including the default case where no visualizer was selected. The policy may be "
"stepping normally, but no viewport will appear unless you specify the "
"`--visualizer` field."
)
print(f"[INFO]: Deploying task '{task_name}' with LEAPP model: {args_cli.leapp_model}")
print(f"[INFO]: Num envs: {env.num_envs}, decimation: {env.cfg.decimation}, step_dt: {env.step_dt:.4f}s")
# ── Run loop ──────────────────────────────────────────────────
env.reset()
try:
with torch.inference_mode():
while simulation_app.is_running():
env.step()
env.close()
except KeyboardInterrupt:
pass
if __name__ == "__main__":
main()
simulation_app.close()
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