233 lines
8.7 KiB
Python
233 lines
8.7 KiB
Python
# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
|
||
# All rights reserved.
|
||
#
|
||
# SPDX-License-Identifier: BSD-3-Clause
|
||
|
||
"""Script to run an environment with zero action agent."""
|
||
|
||
"""Launch Isaac Sim Simulator first."""
|
||
|
||
import argparse
|
||
|
||
from isaaclab.app import AppLauncher
|
||
|
||
# add argparse arguments
|
||
parser = argparse.ArgumentParser(description="Zero agent for Isaac Lab environments.")
|
||
parser.add_argument(
|
||
"--disable_fabric", action="store_true", default=False, help="Disable fabric and use USD I/O operations."
|
||
)
|
||
parser.add_argument("--num_envs", type=int, default=None, help="Number of environments to simulate.")
|
||
parser.add_argument("--task", type=str, default=None, help="Name of the task.")
|
||
# append AppLauncher cli args
|
||
AppLauncher.add_app_launcher_args(parser)
|
||
# parse the arguments
|
||
args_cli = parser.parse_args()
|
||
|
||
# launch omniverse app
|
||
app_launcher = AppLauncher(args_cli)
|
||
simulation_app = app_launcher.app
|
||
|
||
"""Rest everything follows."""
|
||
|
||
import gymnasium as gym
|
||
import torch
|
||
|
||
import isaaclab_tasks # noqa: F401
|
||
from isaaclab_tasks.utils import parse_env_cfg
|
||
|
||
import mindbot.tasks # noqa: F401
|
||
|
||
|
||
def main():
|
||
"""Zero actions agent with Isaac Lab environment."""
|
||
# parse configuration
|
||
env_cfg = parse_env_cfg(
|
||
args_cli.task, device=args_cli.device, num_envs=args_cli.num_envs, use_fabric=not args_cli.disable_fabric
|
||
)
|
||
# create environment
|
||
env = gym.make(args_cli.task, cfg=env_cfg)
|
||
|
||
# print info (this is vectorized environment)
|
||
print(f"[INFO]: Gym observation space: {env.observation_space}")
|
||
print(f"[INFO]: Gym action space: {env.action_space}")
|
||
# reset environment
|
||
env.reset()
|
||
|
||
# 计数器：每 120 步打印一次
|
||
step_count = 0
|
||
print_interval = 120
|
||
|
||
# simulate environment
|
||
while simulation_app.is_running():
|
||
# run everything in inference mode
|
||
with torch.inference_mode():
|
||
# compute zero actions
|
||
actions = torch.zeros(env.action_space.shape, device=env.unwrapped.device)
|
||
# apply actions
|
||
env.step(actions)
|
||
|
||
# ... (前面的代码保持不变)
|
||
|
||
# 每 120 步打印一次坐标
|
||
step_count += 1
|
||
if step_count % print_interval == 0:
|
||
scene = env.unwrapped.scene
|
||
|
||
# 1. 获取 centrifuge 的世界坐标
|
||
try:
|
||
centrifuge = scene["centrifuge"]
|
||
centrifuge_pos = centrifuge.data.root_pos_w[0].cpu().numpy()
|
||
centrifuge_quat = centrifuge.data.root_quat_w[0].cpu().numpy()
|
||
print(f"[Step {step_count}] CENTRIFUGE - Pos: {centrifuge_pos}, Quat: {centrifuge_quat}")
|
||
except KeyError:
|
||
print(f"[Step {step_count}] CENTRIFUGE - Not found")
|
||
|
||
# 2. 获取 Reservoir_A 的世界坐标
|
||
# 注意：这里的 key ("reservoir_a") 必须与你在 SceneCfg 中定义的名称一致
|
||
try:
|
||
# 如果你在配置里命名为 "reservoir_a"
|
||
reservoir = scene["reservoir_a"]
|
||
res_pos = reservoir.data.root_pos_w[0].cpu().numpy()
|
||
res_quat = reservoir.data.root_quat_w[0].cpu().numpy()
|
||
print(f"[Step {step_count}] RESERVOIR_A - Pos: {res_pos}, Quat: {res_quat}")
|
||
except KeyError:
|
||
# 如果 Reservoir_A 是 centrifuge 机器人(Articulation)的一个 Link（身体部件）
|
||
# 我们可以从 centrifuge 的 body 数据中获取
|
||
try:
|
||
centrifuge = scene["centrifuge"]
|
||
# 找到名为 'Reservoir_A' 的 link 索引
|
||
body_names = centrifuge.body_names
|
||
if "Reservoir_A" in body_names:
|
||
idx = body_names.index("Reservoir_A")
|
||
res_pos = centrifuge.data.body_pos_w[0, idx].cpu().numpy()
|
||
res_quat = centrifuge.data.body_quat_w[0, idx].cpu().numpy()
|
||
print(f"[Step {step_count}] RESERVOIR_A (Link) - Pos: {res_pos}, Quat: {res_quat}")
|
||
else:
|
||
print(f"[Step {step_count}] RESERVOIR_A - Not found in scene keys or links")
|
||
except Exception:
|
||
print(f"[Step {step_count}] RESERVOIR_A - Not found")
|
||
|
||
# 3. 获取 lid 的世界坐标
|
||
try:
|
||
lid = scene["lid"]
|
||
lid_pos = lid.data.root_pos_w[0].cpu().numpy()
|
||
lid_quat = lid.data.root_quat_w[0].cpu().numpy()
|
||
print(f"[Step {step_count}] LID - Pos: {lid_pos}, Quat: {lid_quat}")
|
||
except KeyError:
|
||
print(f"[Step {step_count}] LID - Not found")
|
||
|
||
print("-" * 80)
|
||
|
||
# ... (后面的代码保持不变)
|
||
# 每 120 步打印一次坐标
|
||
# step_count += 1
|
||
# if step_count % print_interval == 0:
|
||
# scene = env.unwrapped.scene
|
||
|
||
# # 获取 centrifuge 的世界坐标（root position）
|
||
# try:
|
||
# centrifuge = scene["centrifuge"]
|
||
# centrifuge_pos = centrifuge.data.root_pos_w[0].cpu().numpy() # 取第一个环境
|
||
# centrifuge_quat = centrifuge.data.root_quat_w[0].cpu().numpy()
|
||
# print(f"[Step {step_count}] CENTRIFUGE_CFG - World Position: {centrifuge_pos}, Quaternion: {centrifuge_quat}")
|
||
# except KeyError:
|
||
# print(f"[Step {step_count}] CENTRIFUGE_CFG - Not found in scene")
|
||
|
||
# # 获取 lid 的世界坐标
|
||
# try:
|
||
# lid = scene["lid"]
|
||
# lid_pos = lid.data.root_pos_w[0].cpu().numpy() # 取第一个环境
|
||
# lid_quat = lid.data.root_quat_w[0].cpu().numpy()
|
||
# print(f"[Step {step_count}] LID_CFG - World Position: {lid_pos}, Quaternion: {lid_quat}")
|
||
# except KeyError:
|
||
# print(f"[Step {step_count}] LID_CFG - Not found in scene")
|
||
|
||
# print("-" * 80)
|
||
|
||
# close the simulator
|
||
env.close()
|
||
|
||
|
||
if __name__ == "__main__":
|
||
# run the main function
|
||
main()
|
||
# close sim app
|
||
simulation_app.close()
|
||
|
||
# # Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
|
||
# # All rights reserved.
|
||
# #
|
||
# # SPDX-License-Identifier: BSD-3-Clause
|
||
|
||
# """Script to run an environment with zero action agent."""
|
||
|
||
# """Launch Isaac Sim Simulator first."""
|
||
|
||
# import argparse
|
||
|
||
# from isaaclab.app import AppLauncher
|
||
|
||
# # add argparse arguments
|
||
# parser = argparse.ArgumentParser(description="Zero agent for Isaac Lab environments.")
|
||
# parser.add_argument(
|
||
# "--disable_fabric", action="store_true", default=False, help="Disable fabric and use USD I/O operations."
|
||
# )
|
||
# parser.add_argument("--num_envs", type=int, default=None, help="Number of environments to simulate.")
|
||
# parser.add_argument("--task", type=str, default=None, help="Name of the task.")
|
||
# # append AppLauncher cli args
|
||
# AppLauncher.add_app_launcher_args(parser)
|
||
# # parse the arguments
|
||
# args_cli = parser.parse_args()
|
||
|
||
# # launch omniverse app
|
||
# app_launcher = AppLauncher(args_cli)
|
||
# simulation_app = app_launcher.app
|
||
|
||
# """Rest everything follows."""
|
||
|
||
# import gymnasium as gym
|
||
# import torch
|
||
|
||
# import isaaclab_tasks # noqa: F401
|
||
# from isaaclab_tasks.utils import parse_env_cfg
|
||
|
||
# import mindbot.tasks # noqa: F401
|
||
|
||
|
||
# def main():
|
||
# """Zero actions agent with Isaac Lab environment."""
|
||
# # parse configuration
|
||
# env_cfg = parse_env_cfg(
|
||
# args_cli.task, device=args_cli.device, num_envs=args_cli.num_envs, use_fabric=not args_cli.disable_fabric
|
||
# )
|
||
# # create environment
|
||
# env = gym.make(args_cli.task, cfg=env_cfg)
|
||
|
||
# # print info (this is vectorized environment)
|
||
# print(f"[INFO]: Gym observation space: {env.observation_space}")
|
||
# print(f"[INFO]: Gym action space: {env.action_space}")
|
||
# # reset environment
|
||
# env.reset()
|
||
# # simulate environment
|
||
|
||
# step_count = 0
|
||
# print_interval = 120
|
||
|
||
# while simulation_app.is_running():
|
||
# # run everything in inference mode
|
||
# with torch.inference_mode():
|
||
# # compute zero actions
|
||
# actions = torch.zeros(env.action_space.shape, device=env.unwrapped.device)
|
||
# # apply actions
|
||
# env.step(actions)
|
||
|
||
# # close the simulator
|
||
# env.close()
|
||
|
||
|
||
# if __name__ == "__main__":
|
||
# # run the main function
|
||
# main()
|
||
# # close sim app
|
||
# simulation_app.close()
|