| """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() | |