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|
| """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 |
| from isaaclab_tasks.utils.parse_cfg import load_cfg_from_registry |
|
|
|
|
| def main(): |
| |
| 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 |
|
|
| |
| 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") |
|
|
| |
| 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() |
|
|
