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import time |
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from typing import Any, Dict |
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from unitree_sdk2py.core.channel import ChannelFactoryInitialize |
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from .base_sim import BaseSimulator |
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def init_channel(config: Dict[str, Any]) -> None: |
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""" |
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Initialize the communication channel for simulator/robot communication. |
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Args: |
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config: Configuration dictionary containing DOMAIN_ID and optionally INTERFACE |
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""" |
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if config.get("INTERFACE", None): |
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ChannelFactoryInitialize(config["DOMAIN_ID"], config["INTERFACE"]) |
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else: |
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ChannelFactoryInitialize(config["DOMAIN_ID"]) |
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class SimulatorFactory: |
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"""Factory class for creating different types of simulators.""" |
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@staticmethod |
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def create_simulator(config: Dict[str, Any], env_name: str = "default", **kwargs): |
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""" |
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Create a simulator based on the configuration. |
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Args: |
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config: Configuration dictionary containing SIMULATOR type |
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env_name: Environment name |
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**kwargs: Additional keyword arguments for specific simulators |
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""" |
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simulator_type = config.get("SIMULATOR", "mujoco") |
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if simulator_type == "mujoco": |
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return SimulatorFactory._create_mujoco_simulator(config, env_name, **kwargs) |
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else: |
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print( |
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f"Warning: Invalid simulator type: {simulator_type}. " |
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"If you are using run_sim_loop, please ignore this warning." |
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) |
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return None |
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@staticmethod |
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def _create_mujoco_simulator(config: Dict[str, Any], env_name: str = "default", **kwargs): |
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"""Create a MuJoCo simulator instance.""" |
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camera_configs = kwargs.pop("camera_configs", {}) |
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if len(camera_configs) > 0: |
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print(f"Debug: SimulatorFactory received {len(camera_configs)} camera config(s)") |
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env_kwargs = dict( |
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onscreen=kwargs.pop("onscreen", True), |
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offscreen=kwargs.pop("offscreen", False), |
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camera_configs=camera_configs, |
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) |
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return BaseSimulator(config=config, env_name=env_name, **env_kwargs) |
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