Added Gui (unfinished)

config into dataclass and enums
new Gui that includes settings
deleted GlobalVariables

small fixes (import, names...)

simulation.py

@@ -5,21 +5,31 @@ import time
 import math
 import numpy as np
 import pybullet as p
+import pybullet_data  # Added missing import
 
-import config as cfg
+from config import cfg
 import DataTypes as dt
 
 
 class Simulation:
-    def __init__(self):
-        self.physics_client = p.connect(p.GUI)
-        self.robot = p.loadURDF(cfg.urdf_path, useFixedBase=True)
+    def __init__(self, urdf_path: str = cfg.urdf_path):
+        self.urdf_path = urdf_path
+        
+        # Connect to PyBullet GUI
+        self.physicsClient = p.connect(p.GUI)
+        p.setAdditionalSearchPath(pybullet_data.getDataPath())
+        p.setGravity(0, 0, -9.81)
+        
+        # Load plane and robot URDF
+        self.planeId = p.loadURDF("plane.urdf")
+        self.robot = p.loadURDF(self.urdf_path, [0, 0, 0.2])
 
-        self.revolute_joints = [
-            i
-            for i in range(p.getNumJoints(self.robot))
-            if p.getJointInfo(self.robot, i)[2] == p.JOINT_REVOLUTE
-        ]
+        # Discover revolute joint indices dynamically
+        self.revolute_joints = []
+        for j in range(p.getNumJoints(self.robot)):
+            joint_info = p.getJointInfo(self.robot, j)
+            if joint_info[2] == p.JOINT_REVOLUTE:
+                self.revolute_joints.append(j)
 
         self.set_all_joints_to_90()
         p.resetDebugVisualizerCamera(
@@ -30,11 +40,8 @@ class Simulation:
         )
 
     def set_all_joints_to_90(self):
-        for joint_index in range(p.getNumJoints(self.robot)):
-            joint_info = p.getJointInfo(self.robot, joint_index)
-            joint_type = joint_info[2]
-            if joint_type == p.JOINT_REVOLUTE:
-                p.resetJointState(self.robot, joint_index, math.radians(90))
+        for joint_index in self.revolute_joints:
+            p.resetJointState(self.robot, joint_index, math.radians(90))
 
     def updatePos(self, current_rad: dt.RadArray):
         radflat = current_rad.data.flatten()
@@ -51,7 +58,12 @@ class Simulation:
         p.stepSimulation()
 
     def disconnect(self):
-        p.disconnect(self.physics_client)
+        if p.isConnected(self.physicsClient):
+            p.disconnect(self.physicsClient)
+
+    def close(self):
+        """Cleanup wrapper for Robot backend compatibility."""
+        self.disconnect()
 
 
 if __name__ == "__main__":
@@ -62,7 +74,7 @@ if __name__ == "__main__":
     backend = PyBulletBackend(sim_instance)
 
     # 2. Instantiate Robot with simulation backend
-    robot = Robot(backend=backend)
+    robot = Robot(backend_type=backend)
     robot.reset_to_init()
 
     # 3. Command forward movement [vx, vy, omega]
@@ -71,7 +83,7 @@ if __name__ == "__main__":
     # 4. Main test execution loop
     try:
         while True:
-            # Executes state machine logic (Idle -> Walking -> Target Step -> Physics Step)
+            # Executes state machine logic
             robot.tick()
             time.sleep(1.0 / 60.0)
     except KeyboardInterrupt: