Main function.
()
| 309 | |
| 310 | |
| 311 | def main(): |
| 312 | """Main function.""" |
| 313 | # Load kit helper |
| 314 | sim_cfg = sim_utils.SimulationCfg(device=args_cli.device) |
| 315 | sim_cfg.dt = 1.0 / args_cli.output_fps |
| 316 | sim = SimulationContext(sim_cfg) |
| 317 | # Design scene |
| 318 | scene_cfg = ReplayMotionsSceneCfg(num_envs=1, env_spacing=2.0) |
| 319 | scene = InteractiveScene(scene_cfg) |
| 320 | # Play the simulator |
| 321 | sim.reset() |
| 322 | # Now we are ready! |
| 323 | print("[INFO]: Setup complete...") |
| 324 | # Run the simulator |
| 325 | run_simulator( |
| 326 | sim, |
| 327 | scene, |
| 328 | joint_names=JOINT_NAMES, |
| 329 | ) |
| 330 | |
| 331 | |
| 332 | if __name__ == "__main__": |
no test coverage detected