import numpy as np from sim.main import InteractiveDigitalWorld from sim.simulator import RobomimicSimulator from sim.policy import RandomJointPositionPolicy if __name__ == '__main__': robomimic_simulator = RobomimicSimulator( env_name='lift' ) random_policy = RandomJointPositionPolicy( action_bounds=( np.array([-np.pi, -np.pi, -np.pi, -np.pi, -np.pi, -np.pi, -np.pi]), np.array([np.pi, np.pi, np.pi, np.pi, np.pi, np.pi, np.pi]) ) ) playground = InteractiveDigitalWorld( simulator=robomimic_simulator, policy=random_policy, offscreen=True, window_size=(512, 512) ) for _ in range(1000): playground.step() playground.save_video(save_path='test.mp4', as_gif=False) playground.close()