| # 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 | |