Complete Restructered Robot Code

Robot into its own Class instead of lose Global Variables that cause circular imports

StateClass usage instead of the old RobotState.py

New Input Class for Controller and randome intputs

simulation.py

@@ -1,12 +1,13 @@
-import pybullet as p
+"""
+simulation.py - PyBullet Simulation Interface & Standalone Runner
+"""
+import time
+import math
 import numpy as np
-import RobotState as rs
-import GlobalVariables as gv
+import pybullet as p
+
 import config as cfg
 import DataTypes as dt
-import time
-import os
-import math
 
 
 class Simulation:
@@ -54,15 +55,24 @@ class Simulation:
 
 
 if __name__ == "__main__":
-    count = 0
-    current_rad: dt.RadArray = gv.init_deg.to_rad()
-    gv.shared_sim.updatePos(current_rad)
+    from Robot import Robot, PyBulletBackend
 
-    rs.walking()
-    while True:
-        count = +1
-        gv.shared_sim.step()
-        time.sleep(1 / 240)
-        if count > 50:
-            rs.walking()
-            count = 0
+    # 1. Initialize PyBullet simulation environment
+    sim_instance = Simulation()
+    backend = PyBulletBackend(sim_instance)
+
+    # 2. Instantiate Robot with simulation backend
+    robot = Robot(backend=backend)
+    robot.reset_to_init()
+
+    # 3. Command forward movement [vx, vy, omega]
+    robot.vector_dirmov = [1.0, 0.0, 0.0]
+
+    # 4. Main test execution loop
+    try:
+        while True:
+            # Executes state machine logic (Idle -> Walking -> Target Step -> Physics Step)
+            robot.tick()
+            time.sleep(1.0 / 60.0)
+    except KeyboardInterrupt:
+        sim_instance.disconnect()