| """Run the simulator with private writable Isaac app configuration on centre.""" | |
| import os | |
| from pathlib import Path | |
| import runpy | |
| import sys | |
| import importlib.util | |
| os.environ.setdefault('OMNI_KIT_ACCEPT_EULA', 'YES') | |
| import isaacsim # initializes ISAAC_PATH; does not launch SimulationApp | |
| source = Path(os.environ['ISAAC_PATH']) | |
| runtime = Path(os.environ['OMNIGIBSON_APPDATA_PATH'])/'isaac-runtime' | |
| runtime.mkdir(parents=True, exist_ok=True) | |
| for entry in source.iterdir(): | |
| if entry.name != 'apps': | |
| target = runtime/entry.name | |
| if not target.exists() and not target.is_symlink(): | |
| target.symlink_to(entry, target_is_directory=entry.is_dir()) | |
| apps = runtime/'apps' | |
| apps.mkdir(exist_ok=True) | |
| os.environ['EXP_PATH'] = str(apps) | |
| print('RECOVERY_RUNTIME_SOURCE', importlib.util.find_spec('omnigibson').origin, | |
| 'private_apps', str(apps), flush=True) | |
| module = sys.argv.pop(1) | |
| runpy.run_module(module, run_name='__main__', alter_sys=True) | |