Configuration for a replay motions scene.
| 57 | |
| 58 | @configclass |
| 59 | class ReplayMotionsSceneCfg(InteractiveSceneCfg): |
| 60 | """Configuration for a replay motions scene.""" |
| 61 | |
| 62 | # ground plane |
| 63 | ground = AssetBaseCfg(prim_path="/World/defaultGroundPlane", spawn=sim_utils.GroundPlaneCfg()) |
| 64 | |
| 65 | # lights |
| 66 | sky_light = AssetBaseCfg( |
| 67 | prim_path="/World/skyLight", |
| 68 | spawn=sim_utils.DomeLightCfg( |
| 69 | intensity=750.0, |
| 70 | texture_file=f"{ISAAC_NUCLEUS_DIR}/Materials/Textures/Skies/PolyHaven/kloofendal_43d_clear_puresky_4k.hdr", |
| 71 | ), |
| 72 | ) |
| 73 | |
| 74 | # articulation |
| 75 | robot: ArticulationCfg = G1_CYLINDER_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot") |
| 76 | |
| 77 | |
| 78 | class MotionLoader: |