I am running this Python Script of Simple Stack example directly retrieved from the omni.isaac.examples on VSCode.
My adjustment is to add the following lines at the bottom of the script to set up and load the scene. I am wondering whether running pure Python Script requires any additional setup step to run it in Isaac Sim.
sim = SimpleStack()
sim.setup_scene()
sim.setup_post_load()
from omni.isaac.examples.base_sample import BaseSample
from omni.isaac.core import World
from omni.isaac.franka.controllers.stacking_controller import StackingController
from omni.isaac.franka.tasks import Stacking
class SimpleStack(BaseSample):
def init(self) → None:
super().init()
self._controller = None
self._articulation_controller = None
def setup_scene(self):
world = World()
world.add_task(Stacking(name="stacking_task"))
return
async def setup_post_load(self):
self._franka_task = self._world.get_task(name="stacking_task")
self._task_params = self._franka_task.get_params()
my_franka = self._world.scene.get_object(self._task_params["robot_name"]["value"])
self._controller = StackingController(
name="stacking_controller",
gripper=my_franka.gripper,
robot_articulation=my_franka,
picking_order_cube_names=self._franka_task.get_cube_names(),
robot_observation_name=my_franka.name,
)
self._articulation_controller = my_franka.get_articulation_controller()
return
def _on_stacking_physics_step(self, step_size):
observations = self._world.get_observations()
actions = self._controller.forward(observations=observations)
self._articulation_controller.apply_action(actions)
if self._controller.is_done():
self._world.pause()
return
async def _on_stacking_event_async(self):
world = self.get_world()
world.add_physics_callback("sim_step", self._on_stacking_physics_step)
await world.play_async()
return
async def setup_pre_reset(self):
world = self.get_world()
if world.physics_callback_exists("sim_step"):
world.remove_physics_callback("sim_step")
self._controller.reset()
return
def world_cleanup(self):
self._controller = None
return
sim = SimpleStack()
sim.setup_scene()
sim.setup_post_load()
Here is the log:
[2:32:00 PM] executing at 127.0.0.1:8226…
[2:32:00 PM] executed without output
