unisim.backend.isaacgym.protocol
Compatibility import for the canonical subprocess IPC protocol.
New workers must load subprocess_ipc/protocol.py by path. This module is
kept so existing IsaacGym callers and tests retain their import path.
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exception unisim.backend.isaacgym.protocol.WorkerDisconnectedError[source]
Bases: EOFError
Raised when a worker pipe closes before a complete message arrives.
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unisim.backend.isaacgym.protocol.decode_message(body)[source]
- Parameters:
body (bytes)
- Return type:
Dict[str, Any]
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unisim.backend.isaacgym.protocol.format_worker_error(payload, backend='subprocess')[source]
- Parameters:
-
- Return type:
str
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unisim.backend.isaacgym.protocol.pack_message(cmd, payload=None)[source]
- Parameters:
-
- Return type:
bytes
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unisim.backend.isaacgym.protocol.quat_rotate(quat_wxyz, vec)[source]
- Parameters:
-
- Return type:
ndarray
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unisim.backend.isaacgym.protocol.quat_rotate_inverse(quat_wxyz, vec)[source]
- Parameters:
-
- Return type:
ndarray
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unisim.backend.isaacgym.protocol.recv_message(stream)[source]
- Parameters:
stream (BinaryIO)
- Return type:
Dict[str, Any]
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unisim.backend.isaacgym.protocol.send_message(stream, cmd, payload=None)[source]
- Parameters:
-
- Return type:
None
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unisim.backend.isaacgym.protocol.serialize_exception(exc)[source]
- Parameters:
exc (BaseException)
- Return type:
Dict[str, str]
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unisim.backend.isaacgym.protocol.slot_dtype(name)[source]
- Parameters:
name (str)
- Return type:
dtype
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unisim.backend.isaacgym.protocol.slot_nbytes(name, shape)[source]
- Parameters:
-
- Return type:
int
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unisim.backend.isaacgym.protocol.slot_shapes(num_envs, num_dof, num_bodies)[source]
- Parameters:
num_envs (int)
num_dof (int)
num_bodies (int)
- Return type:
Dict[str, Tuple[int, ...]]
- Parameters:
data (bytes)
- Return type:
int
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unisim.backend.isaacgym.protocol.wxyz_to_xyzw(quat)[source]
- Parameters:
quat (ndarray)
- Return type:
ndarray
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unisim.backend.isaacgym.protocol.xyzw_to_wxyz(quat)[source]
- Parameters:
quat (ndarray)
- Return type:
ndarray