Update sim/simulator_factory.py

sim/simulator_factory.py

@@ -35,8 +35,6 @@ class SimulatorFactory:
         simulator_type = config.get("SIMULATOR", "mujoco")
         if simulator_type == "mujoco":
             return SimulatorFactory._create_mujoco_simulator(config, env_name, **kwargs)
-        elif simulator_type == "robocasa":
-            return SimulatorFactory._create_robocasa_simulator(config, env_name, **kwargs)
         else:
             print(
                 f"Warning: Invalid simulator type: {simulator_type}. "
@@ -58,54 +56,6 @@ class SimulatorFactory:
         )
         return BaseSimulator(config=config, env_name=env_name, **env_kwargs)
 
-    @staticmethod
-    def _create_robocasa_simulator(config: Dict[str, Any], env_name: str = "default", **kwargs):
-        """Create a RoboCasa simulator instance."""
-        from gr00t_wbc.control.envs.g1.sim.robocasa_sim import RoboCasaG1EnvServer
-        from gr00t_wbc.control.envs.robocasa.utils.controller_utils import (
-            update_robosuite_controller_configs,
-        )
-        from gr00t_wbc.control.envs.robocasa.utils.sim_utils import change_simulation_timestep
-
-        change_simulation_timestep(config["SIMULATE_DT"])
-
-        # Use default environment if not specified
-        if env_name == "default":
-            env_name = "GroundOnly"
-
-        # Get or create controller configurations
-        controller_configs = kwargs.get("controller_configs")
-        if controller_configs is None:
-            wbc_version = kwargs.get("wbc_version", "gear_wbc")
-            controller_configs = update_robosuite_controller_configs("G1", wbc_version)
-
-        # Build environment kwargs
-        env_kwargs = dict(
-            onscreen=kwargs.pop("onscreen", True),
-            offscreen=kwargs.pop("offscreen", False),
-            camera_names=kwargs.pop("camera_names", None),
-            camera_heights=kwargs.pop("camera_heights", None),
-            camera_widths=kwargs.pop("camera_widths", None),
-            control_freq=kwargs.pop("control_freq", 50),
-            controller_configs=controller_configs,
-            ik_indicator=kwargs.pop("ik_indicator", False),
-            randomize_cameras=kwargs.pop("randomize_cameras", True),
-        )
-
-        kwargs.update(
-            {
-                "verbose": config.pop("verbose", False),
-                "sim_freq": 1 / config.pop("SIMULATE_DT"),
-            }
-        )
-
-        return RoboCasaG1EnvServer(
-            env_name=env_name,
-            wbc_config=config,
-            env_kwargs=env_kwargs,
-            **kwargs,
-        )
-
     @staticmethod
     def start_simulator(
         simulator,