Class BaseSimulator

humanoidverse/simulator/base_simulator/base_simulator.py:6–171

Base class for robotic simulation environments, providing a framework for simulation setup, environment creation, and control over robotic assets and simulation properties.

import torch

class BaseSimulator:
    """
    Base class for robotic simulation environments, providing a framework for simulation setup, 
    environment creation, and control over robotic assets and simulation properties.
    """
    def __init__(self, config, device):
        """
        Initializes the base simulator with configuration settings and simulation device.
        
        Args:
            config (dict): Configuration dictionary for the simulation.
            device (str): Device type for simulation ('cpu' or 'cuda').
        """
        self.config = config
        self.sim_device = device
        self.headless = False

        self._rigid_body_pos: torch.Tensor
        self._rigid_body_rot: torch.Tensor
        self._rigid_body_vel: torch.Tensor
        self._rigid_body_ang_vel: torch.Tensor

    # ----- Configuration Setup Methods -----

    def set_headless(self, headless):
        """
        Sets the headless mode for the simulator.

        Args:
            headless (bool): If True, runs the simulation without graphical display.
        """
        self.headless = headless

    def setup(self):
        """
        Initializes the simulator parameters and environment. This method should be implemented 
        by subclasses to set specific simulator configurations.
        """
        raise NotImplementedError("The 'setup' method must be implemented in subclasses.")

    # ----- Terrain Setup Methods -----

    def setup_terrain(self, mesh_type):
        """
        Configures the terrain based on specified mesh type. 

        Args:
            mesh_type (str): Type of terrain mesh ('plane', 'heightfield', 'trimesh').
        """
        raise NotImplementedError("The 'setup_terrain' method must be implemented in subclasses.")

    # ----- Robot Asset Setup Methods -----

    def load_assets(self, robot_config):
        """
        Loads the robot assets into the simulation environment.
        save self.num_dofs, self.num_bodies, self.dof_names, self.body_names
        Args: