[del] remove set sim freq in sync env

gr00t_wbc/control/envs/robocasa/sync_env.py

@@ -17,7 +17,6 @@ from gr00t_wbc.control.envs.robocasa.utils.robocasa_env import (  # noqa: F401
     ALLOWED_LANGUAGE_CHARSET,
     Gr00tLocomanipRoboCasaEnv,
 )
-from gr00t_wbc.control.envs.robocasa.utils.sim_utils import change_simulation_timestep
 from gr00t_wbc.control.robot_model.instantiation import get_robot_type_and_model
 from gr00t_wbc.control.utils.n1_utils import (
     prepare_gym_space_for_eval,
@@ -39,8 +38,6 @@ class SyncEnv(gym.Env):
             robot_name, enable_waist_ik=kwargs.pop("enable_waist", False)
         )
 
-        change_simulation_timestep(kwargs.get("sim_freq", 1 / 0.005))
-
         env_kwargs = {
             "onscreen": kwargs.get("onscreen", True),
             "offscreen": kwargs.get("offscreen", False),

gr00t_wbc/control/utils/sync_sim_utils.py

@@ -503,7 +503,6 @@ def get_env(config: SyncSimDataCollectionConfig, **kwargs) -> SyncEnv:
             "enable_waist": config.enable_waist,
             "enable_gravity_compensation": config.enable_gravity_compensation,
             "gravity_compensation_joints": config.gravity_compensation_joints,
-            "sim_freq": config.sim_frequency,
         }
     )
     if robot_type == "g1":