Main function.
()
| 318 | |
| 319 | |
| 320 | def main(): |
| 321 | """Main function.""" |
| 322 | # Load kit helper |
| 323 | sim_cfg = sim_utils.SimulationCfg(device=args_cli.device) |
| 324 | sim_cfg.dt = 1.0 / args_cli.output_fps |
| 325 | sim = SimulationContext(sim_cfg) |
| 326 | # Design scene |
| 327 | scene_cfg = ReplayMotionsSceneCfg(num_envs=1, env_spacing=2.0) |
| 328 | scene = InteractiveScene(scene_cfg) |
| 329 | # Play the simulator |
| 330 | sim.reset() |
| 331 | # Now we are ready! |
| 332 | print("[INFO]: Setup complete...") |
| 333 | # Run the simulator |
| 334 | run_simulator( |
| 335 | sim, |
| 336 | scene, |
| 337 | joint_names=[ |
| 338 | "left_hip_pitch_joint", |
| 339 | "left_hip_roll_joint", |
| 340 | "left_hip_yaw_joint", |
| 341 | "left_knee_joint", |
| 342 | "left_ankle_pitch_joint", |
| 343 | "left_ankle_roll_joint", |
| 344 | "right_hip_pitch_joint", |
| 345 | "right_hip_roll_joint", |
| 346 | "right_hip_yaw_joint", |
| 347 | "right_knee_joint", |
| 348 | "right_ankle_pitch_joint", |
| 349 | "right_ankle_roll_joint", |
| 350 | "waist_yaw_joint", |
| 351 | "waist_roll_joint", |
| 352 | "waist_pitch_joint", |
| 353 | "left_shoulder_pitch_joint", |
| 354 | "left_shoulder_roll_joint", |
| 355 | "left_shoulder_yaw_joint", |
| 356 | "left_elbow_joint", |
| 357 | "left_wrist_roll_joint", |
| 358 | "left_wrist_pitch_joint", |
| 359 | "left_wrist_yaw_joint", |
| 360 | "right_shoulder_pitch_joint", |
| 361 | "right_shoulder_roll_joint", |
| 362 | "right_shoulder_yaw_joint", |
| 363 | "right_elbow_joint", |
| 364 | "right_wrist_roll_joint", |
| 365 | "right_wrist_pitch_joint", |
| 366 | "right_wrist_yaw_joint", |
| 367 | ], |
| 368 | ) |
| 369 | |
| 370 | |
| 371 | if __name__ == "__main__": |
no test coverage detected