File size: 1,712 Bytes
1e71a55 | 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 51 52 53 54 55 56 57 58 | import argparse
import itertools
import torch
from isaaclab.app import AppLauncher
# create argparser
parser = argparse.ArgumentParser(description="View ATEC Task E.")
parser.add_argument(
"--num_envs", type=int, default=1, help="Number of environments to spawn."
)
# append AppLauncher cli args
AppLauncher.add_app_launcher_args(parser)
# parse the arguments
args_cli = parser.parse_args()
# launch omniverse app
app_launcher = AppLauncher(args_cli)
simulation_app = app_launcher.app
"""Rest everything follows."""
import isaaclab.sim as sim_utils
from isaaclab.envs import ManagerBasedRLEnv
from atec_rl_lab.tasks.task_e.env_cfg import TaskEEnvPiperCfg
def main():
env_cfg = TaskEEnvPiperCfg()
env_cfg.scene.num_envs = args_cli.num_envs
env = ManagerBasedRLEnv(env_cfg)
for name, articulation in env.scene.articulations.items():
print("-" * 100)
print("Robot name:", name)
print("Bodies:", articulation.num_bodies, "->", articulation.body_names)
print("Joints:", articulation.num_joints, "->", articulation.joint_names)
articulation.set_joint_position_target(articulation.data.default_joint_pos)
action_space = env.action_space
obs, info = env.reset()
for i in itertools.count():
if not simulation_app.is_running():
break
action = torch.zeros(action_space.shape, device=env.device)
obs, reward, terminated, truncated, info = env.step(action)
done = terminated | truncated
if done.any():
env_ids = done.nonzero(as_tuple=False).squeeze(-1)
env.reset(env_ids=env_ids)
if __name__ == "__main__":
main()
# close sim app
simulation_app.close()
|