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unisim.backend.isaacgym.backend

IsaacGym specialization of the shared MJCF subprocess host adapter.

IsaacGym Preview 4 runs in an external Python 3.8 process. The shared owner layer supplies pipe/shm lifecycle, MJCF metadata, selected reset, NumPy state views, and native-render command plumbing; this module only selects the IsaacGym runtime and worker entrypoint.

Classes

IsaacGymBackend	NumPy-facing SimBackend client for the IsaacGym worker.
IsaacGymModelInfo	Opaque metadata returned by the IsaacGym worker handshake.

Exceptions

IsaacGymWorkerError

Raised when the external IsaacGym worker fails.

class unisim.backend.isaacgym.backend.IsaacGymBackend

Bases: MjcfSubprocessBackend

NumPy-facing SimBackend client for the IsaacGym worker.

Parameters:

• scene (SceneCfg)

• num_envs (int)

• sim_dt (float)

• base_name (str | None)

• device_id (int | None)

• worker_timeout_s (float | None)

• worker_command (list[str] | None)

• unexpected_kwargs (Any)

class unisim.backend.isaacgym.backend.IsaacGymModelInfo

Bases: SubprocessModelInfo

Opaque metadata returned by the IsaacGym worker handshake.

Parameters:

• num_dof (int)

• num_bodies (int)

• dof_names (tuple[str, ...])

• body_names (tuple[str, ...])

• gravity (tuple[float, float, float])

• use_gpu_pipeline (bool)

__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)

exception unisim.backend.isaacgym.backend.IsaacGymWorkerError

Bases: SubprocessWorkerError

Raised when the external IsaacGym worker fails.

Parameters:

• message (str)

• worker_traceback (str | None)

• stderr_tail (str | None)