Configuration for a replay motions scene.
| 46 | |
| 47 | @configclass |
| 48 | class ReplayMotionsSceneCfg(InteractiveSceneCfg): |
| 49 | """Configuration for a replay motions scene.""" |
| 50 | |
| 51 | ground = AssetBaseCfg(prim_path="/World/defaultGroundPlane", spawn=sim_utils.GroundPlaneCfg()) |
| 52 | |
| 53 | sky_light = AssetBaseCfg( |
| 54 | prim_path="/World/skyLight", |
| 55 | spawn=sim_utils.DomeLightCfg( |
| 56 | intensity=750.0, |
| 57 | texture_file=f"{ISAAC_NUCLEUS_DIR}/Materials/Textures/Skies/PolyHaven/kloofendal_43d_clear_puresky_4k.hdr", |
| 58 | ), |
| 59 | ) |
| 60 | |
| 61 | # articulation |
| 62 | robot: ArticulationCfg = G1_CYLINDER_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot") |
| 63 | |
| 64 | |
| 65 | def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene): |