unisim.backend.isaacgym.tensor.IsaacGymCudaIpcArenaLayout

class unisim.backend.isaacgym.tensor.IsaacGymCudaIpcArenaLayout[source]

Bases: object

Fixed offsets for canonical arrays and the selected-reset prefix.

Parameters:

  • num_envs (int)

  • nq (int)

  • nv (int)

  • nu (int)

  • nbody (int)

  • reset_indices_offset (int)

  • reset_qpos_offset (int)

  • reset_qvel_offset (int)

  • reset_kp_offset (int)

  • reset_kd_offset (int)

  • qpos_offset (int)

  • qvel_offset (int)

  • ctrl_offset (int)

  • body_state_offset (int)

  • sensor_state_offset (int)

  • size_bytes (int)

Methods

__init__(num_envs, nq, nv, nu, nbody, ...)

create(num_envs, nq, nv, nu[, nbody])

from_wire(payload)

to_wire()

Attributes

body_state_shape

ctrl_shape

qpos_shape

qvel_shape

reset_indices_shape

reset_kd_shape

reset_kp_shape

reset_qpos_shape

reset_qvel_shape

sensor_state_shape

num_envs

nq

nv

nu

nbody

reset_indices_offset

reset_qpos_offset

reset_qvel_offset

reset_kp_offset

reset_kd_offset

qpos_offset

qvel_offset

ctrl_offset

body_state_offset

sensor_state_offset

size_bytes

num_envs: int
nq: int
nv: int
nu: int
nbody: int
reset_indices_offset: int
reset_qpos_offset: int
reset_qvel_offset: int
reset_kp_offset: int
reset_kd_offset: int
qpos_offset: int
qvel_offset: int
ctrl_offset: int
body_state_offset: int
sensor_state_offset: int
size_bytes: int
classmethod create(num_envs, nq, nv, nu, nbody=0)[source]
Parameters:
Return type:

IsaacGymCudaIpcArenaLayout

property qpos_shape: Tuple[int, int]
property qvel_shape: Tuple[int, int]
property ctrl_shape: Tuple[int, int]
property body_state_shape: Tuple[int, int, int]
property sensor_state_shape: Tuple[int, int, int]
property reset_indices_shape: Tuple[int]
property reset_qpos_shape: Tuple[int, int]
property reset_qvel_shape: Tuple[int, int]
property reset_kp_shape: Tuple[int, int]
property reset_kd_shape: Tuple[int, int]
to_wire()[source]
Return type:

Dict[str, Any]

classmethod from_wire(payload)[source]
Parameters:

payload (Dict[str, Any])

Return type:

IsaacGymCudaIpcArenaLayout

__init__(num_envs, nq, nv, nu, nbody, reset_indices_offset, reset_qpos_offset, reset_qvel_offset, reset_kp_offset, reset_kd_offset, qpos_offset, qvel_offset, ctrl_offset, body_state_offset, sensor_state_offset, size_bytes)
Parameters:

  • num_envs (int)

  • nq (int)

  • nv (int)

  • nu (int)

  • nbody (int)

  • reset_indices_offset (int)

  • reset_qpos_offset (int)

  • reset_qvel_offset (int)

  • reset_kp_offset (int)

  • reset_kd_offset (int)

  • qpos_offset (int)

  • qvel_offset (int)

  • ctrl_offset (int)

  • body_state_offset (int)

  • sensor_state_offset (int)

  • size_bytes (int)