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42d9709 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 | # SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import numpy as np
import random
import torch
from isaaclab_tasks.utils.parse_cfg import parse_env_cfg
from config.args import Gr00tN1ClosedLoopArguments
def create_sim_environment(args: Gr00tN1ClosedLoopArguments):
"""
Creates a simulation environment based on the given arguments.
Args:
args (Gr00tN1ClosedLoopArguments): The arguments for the simulation environment.
Returns:
gym.Env: The created simulation environment.
"""
env_name = args.task
env_cfg = parse_env_cfg(env_name, device=args.simulation_device, num_envs=args.num_envs)
# Disable all recorders
env_cfg.recorders = {}
# Set seed
torch.manual_seed(args.seed)
np.random.seed(args.seed)
random.seed(args.seed)
return env_cfg
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