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d22369f | 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 | """Minimal robot test — mirrors teleop.py structure exactly."""
from __future__ import annotations
import argparse
def _parse_args() -> argparse.Namespace:
parser = argparse.ArgumentParser()
parser.add_argument("--headless", action="store_true")
parser.add_argument("--sim_device", default="cuda")
return parser.parse_args()
def main() -> None:
args_cli = _parse_args()
from isaaclab.app import AppLauncher
app_launcher = AppLauncher(headless=args_cli.headless)
simulation_app = app_launcher.app
import isaaclab.sim as sim_utils
from isaaclab.scene import InteractiveScene
from isaaclab.sim import SimulationContext
from manipulator_learning.envs.test_scene_cfg import TestSceneCfg
sim_cfg = sim_utils.SimulationCfg(dt=1.0 / 60.0, device=args_cli.sim_device)
sim = SimulationContext(sim_cfg)
sim.set_camera_view([1.5, 0.0, 1.0], [0.0, 0.0, 0.3])
scene_cfg = TestSceneCfg(num_envs=1, env_spacing=2.0)
scene = InteractiveScene(scene_cfg)
print("[test_robot] Calling sim.reset() ...")
sim.reset()
print("[test_robot] sim.reset() done!")
scene.reset()
print("[test_robot] Running ...")
while simulation_app.is_running():
sim.step()
scene.update(sim.get_physics_dt())
simulation_app.close()
if __name__ == "__main__":
main()
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