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5c87019 | 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 | """Launch Isaac Sim Simulator first."""
import argparse
from omni.isaac.lab.app import AppLauncher
# add argparse arguments
parser = argparse.ArgumentParser(description="This script tests YuMi with random jitter in a physics environment.")
AppLauncher.add_app_launcher_args(parser)
# parse the arguments
args_cli = parser.parse_args()
# launch omniverse app
args_cli.headless = True # Defaulted True for headless development
args_cli.enable_cameras = True # Defaulted True for rendering viewpoints
print(args_cli)
app_launcher = AppLauncher(args_cli)
simulation_app = app_launcher.app
from xi.isaaclab_viser.configs.scene_configs.yumi_scene_cfg import (
YumiPickTigerCfg
)
from xi.xi.isaaclab_viser.yumi_simulators.yumi_pick_tiger_sim_eval import PickTigerEvalDP
import os
from pathlib import Path
def main():
dir_path = os.path.dirname(os.path.realpath(__file__))
data_dir = os.path.join(dir_path, "../data")
scene_config = YumiPickTigerCfg(num_envs=1, env_spacing=80.0)
output_dir = os.path.join(dir_path, "../output_data/yumi_pick_tiger_sim_eval")
urdf_path = {
'robot': Path(f'{data_dir}/yumi_description/urdf/yumi.urdf'),
}
PickTigerEvalDP(
simulation_app,
scene_config,
urdf_path = urdf_path,
save_data=True,
output_dir = output_dir,
ckpt_path="/home/xi/checkpoints/250120_1346",
ckpt_id=185,
).run_simulator()
# Using robot USD file in the scene_config and loading the same URDF separately speeds up IsaacLab init
# significantly (Avoids running URDF to USD converter)
if __name__ == "__main__":
main()
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