unisim.backend.isaacgym.backend.IsaacGymModelInfo

class unisim.backend.isaacgym.backend.IsaacGymModelInfo[source]

Bases: SubprocessModelInfo

Opaque metadata returned by the IsaacGym worker handshake.

Parameters:

Methods

__init__(num_dof, num_bodies, dof_names, ...)

Attributes

num_dof

num_bodies

dof_names

body_names

gravity

use_gpu_pipeline

__init__(num_dof, num_bodies, dof_names, body_names, gravity, use_gpu_pipeline)
Parameters:
num_dof: int
num_bodies: int
dof_names: tuple[str, ...]
body_names: tuple[str, ...]
gravity: tuple[float, float, float]
use_gpu_pipeline: bool