🎍 Adds virtual sensors and camera mjpeg stream

simulation/simulator.py

@@ -0,0 +1,44 @@
+import copy
+from os import sys
+
+sys.path.append('../../')
+
+from .util.gui import GUI
+
+
+class Simulator():
+    def __init__(self, env, spot) -> None:
+        self.env = env
+        self.state = env.reset()
+        self.gui = GUI(env.spot.quadruped)
+        self.action = env.action_space.sample()
+
+        self.spot = spot
+
+    def step(self, dt):
+    # handle_inputs()
+        self.gui.UserInput(self.spot.body_state, self.spot.gait_state)
+        self.spot.gait_state.contacts = self.state[-4:]
+        self.spot.body_state.worldFeetPositions = copy.deepcopy(self.spot.kinematic.WorldToFoot)
+
+        self.spot.gait_state.update_gait_state(dt)
+
+        # Generate next feet positions
+        self.spot.gait_controller.generate_trajectory(self.spot.body_state, self.spot.gait_state, dt)
+
+        # Calculate next joint angles
+        joint_angles = self.spot.joint_angles()
+
+        # Update environment
+        self.env.pass_joint_angles(joint_angles.reshape(-1))
+        self.state, _, done, _ = self.env.step(self.action)
+        if done:
+            print("DONE")
+            return True
+    
+    def run(self, dt):
+        while True:
+            done = self.step(dt)
+            if done:
+                self.env.close()
+