本地4090代码提交

test_sence.py

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+from isaaclab.app import AppLauncher
+import argparse
+
+# -----------------------------------------------------------------------------
+# 1. 启动 Isaac Sim
+# -----------------------------------------------------------------------------
+parser = argparse.ArgumentParser()
+AppLauncher.add_app_launcher_args(parser)
+args = parser.parse_args()
+
+app_launcher = AppLauncher(args)
+simulation_app = app_launcher.app
+
+# -----------------------------------------------------------------------------
+# 2. 必须先创建 SimulationContext（PhysX 在这里初始化）
+# -----------------------------------------------------------------------------
+import isaaclab.sim as sim_utils
+
+sim_cfg = sim_utils.SimulationCfg(
+    dt=1 / 120,
+    device=args.device,
+)
+sim = sim_utils.SimulationContext(sim_cfg)
+
+# （可选）设置相机
+sim.set_camera_view(
+    eye=[3.0, 0.0, 2.0],
+    target=[0.0, 0.0, 0.5],
+)
+
+# -----------------------------------------------------------------------------
+# 3. 再 play timeline（这一步非常关键）
+# -----------------------------------------------------------------------------
+import omni.timeline
+
+timeline = omni.timeline.get_timeline_interface()
+timeline.play()
+
+# -----------------------------------------------------------------------------
+# 4. 现在才可以安全创建 Env
+# -----------------------------------------------------------------------------
+import torch
+from isaaclab.envs import ManagerBasedRLEnv
+from mindbot.tasks.manager_based.pull.pull_env_cfg import PullEnvCfg
+
+
+def main():
+    env_cfg = PullEnvCfg()
+    env_cfg.scene.num_envs = 1
+
+    env = ManagerBasedRLEnv(cfg=env_cfg)
+
+    obs, _ = env.reset()
+    print("[OK] Env reset")
+
+    for step in range(100000):
+        actions = torch.zeros(
+            env.num_envs,
+            env.action_manager.total_action_dim,
+            device=env.device,
+        )
+        obs, rew, done, trunc, info = env.step(actions)
+
+        if step % 100 == 0:
+            root_pos = env.scene["Mindbot"].data.root_pos_w[0]
+            print(f"step {step}, root z = {root_pos[2].item():.3f}")
+
+    print("[DONE]")
+
+
+if __name__ == "__main__":
+    main()
+    simulation_app.close()