(sim: sim_utils.SimulationContext, scene: InteractiveScene)
| 63 | |
| 64 | |
| 65 | def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene): |
| 66 | # Extract scene entities |
| 67 | robot: Articulation = scene["robot"] |
| 68 | # Define simulation stepping |
| 69 | sim_dt = sim.get_physics_dt() |
| 70 | |
| 71 | motion_file = str(Path("./artifacts") / Path(args_cli.motion_file) / "motion.npz") |
| 72 | |
| 73 | motion = MotionLoader( |
| 74 | motion_file, |
| 75 | torch.tensor([0], dtype=torch.long, device=sim.device), |
| 76 | sim.device, |
| 77 | ) |
| 78 | time_steps = torch.zeros(scene.num_envs, dtype=torch.long, device=sim.device) |
| 79 | |
| 80 | # Simulation loop |
| 81 | while simulation_app.is_running(): |
| 82 | time_steps += 1 |
| 83 | reset_ids = time_steps >= motion.time_step_total |
| 84 | time_steps[reset_ids] = 0 |
| 85 | |
| 86 | root_states = robot.data.default_root_state.clone() |
| 87 | root_states[:, :3] = motion.body_pos_w[time_steps][:, 0] + scene.env_origins[:, None, :] |
| 88 | root_states[:, 3:7] = motion.body_quat_w[time_steps][:, 0] |
| 89 | root_states[:, 7:10] = motion.body_lin_vel_w[time_steps][:, 0] |
| 90 | root_states[:, 10:] = motion.body_ang_vel_w[time_steps][:, 0] |
| 91 | |
| 92 | robot.write_root_state_to_sim(root_states) |
| 93 | robot.write_joint_state_to_sim(motion.joint_pos[time_steps], motion.joint_vel[time_steps]) |
| 94 | scene.write_data_to_sim() |
| 95 | sim.render() # We don't want physic (sim.step()) |
| 96 | scene.update(sim_dt) |
| 97 | |
| 98 | pos_lookat = root_states[0, :3].cpu().numpy() |
| 99 | if time_steps < 10: |
| 100 | sim.set_camera_view(pos_lookat + np.array([2.0, 2.0, 0.5]), pos_lookat) |
| 101 | |
| 102 | |
| 103 | def main(): |
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