Create simulation_environment.py

models/simulation/simulation_environment.py

@@ -0,0 +1,42 @@
+# Import necessary libraries
+import gym
+import pybullet as p
+import time
+import pybullet_data
+
+# Define a class for simulation environments
+class SimulationEnvironment:
+    def __init__(self, config_path):
+        # Load configuration from file
+        with open(config_path) as f:
+           config = json.load(f)
+        self.config = config
+
+        # Initialize the simulation environment
+        self.simulation = gym.make(self.config['simulation']['name'])
+
+    def reset(self):
+        # Reset the simulation environment
+        state = self.simulation.reset()
+        return state
+
+    def step(self, action):
+        # Step the simulation environment
+        state, reward, done, info = self.simulation.step(action)
+        return state, reward, done, info
+
+    def render(self):
+        # Render the simulation environment
+        self.simulation.render()
+
+    def close(self):
+        # Close the simulation environment
+        self.simulation.close()
+
+    def setup_pybullet(self):
+        # Set up the PyBullet physics engine
+        p.connect(p.GUI)
+        p.setAdditionalSearchPath(pybullet_data.getDataPath())
+        p.setGravity(0, 0, -10)
+        p.setTimeStep(1./240.)
+        p.setRealTimeSimulation(1)