Logic
37 lines
1.1 KiB
Python
37 lines
1.1 KiB
Python
import argparse
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import numpy as np
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from roboimi.utils.raw_action_trajectory_viewer import launch_raw_action_trajectory_viewer
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def parse_args():
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parser = argparse.ArgumentParser(description="Launch an interactive MuJoCo viewer with raw-action trajectory overlay.")
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parser.add_argument("trajectory_path", help="Path to raw_action.npy or trajectory.npz")
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parser.add_argument("--task-name", default="sim_transfer")
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parser.add_argument("--line-radius", type=float, default=0.004)
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parser.add_argument("--max-markers", type=int, default=1500)
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parser.add_argument(
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"--box-pos",
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type=float,
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nargs=3,
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default=None,
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help="Optional box xyz to use when resetting the environment",
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)
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return parser.parse_args()
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def main():
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args = parse_args()
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box_pos = np.asarray(args.box_pos, dtype=np.float32) if args.box_pos is not None else None
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launch_raw_action_trajectory_viewer(
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args.trajectory_path,
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task_name=args.task_name,
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line_radius=args.line_radius,
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max_markers=args.max_markers,
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box_pos=box_pos,
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)
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if __name__ == "__main__":
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main()
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