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fix: modify replay_npz.py compatibility with MotionLoader API #4

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fix: modify replay_npz.py compatibility with MotionLoader API #4

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11 changes: 5 additions & 6 deletions scripts/replay_npz.py
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Original file line number Diff line number Diff line change
Expand Up @@ -95,15 +95,14 @@ def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene):
else:
raise ValueError("Either --motion or --registry_name must be provided.")

# Load npz file to get body names and determine body_indexes
# For K1, we typically use Trunk as anchor body (index 0)
# body_indexes should be a list of indices corresponding to the bodies we want to use
# For replay, we only need the anchor body (Trunk), which is typically at index 0
body_indexes = [0] # Default to index 0 for anchor body (Trunk)
# For K1, we typically use Trunk as anchor body.
track_body_names = ["Trunk"]
track_joint_names = robot.joint_names

motion = MotionLoader(
motion_file,
body_indexes,
track_body_names,
track_joint_names,
tail_len=0,
device=str(sim.device),
)
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