unisim.backend.isaacgym.tensor.IsaacGymCudaIpcPlan

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

Bases: object

Control-only pipe plus stable device arenas for IsaacGym hot tensors.

Parameters:

Methods

__init__(backend[, device])

close()

get_sensor_view(name)

get_state_views([fields])

set_state_tensor(env_indices, qpos, qvel[, ...])

step([nsteps])

step_tensor(ctrl[, nsteps])

write_control(ctrl)

__init__(backend, device=None)[source]
Parameters:
get_state_views(fields=None)[source]
Parameters:

fields (Optional[Sequence[str]])

Return type:

Dict[str, Any]

get_sensor_view(name)[source]
Parameters:

name (str)

Return type:

Any

write_control(ctrl)[source]
Parameters:

ctrl (Any)

Return type:

None

step(nsteps=1)[source]
Parameters:

nsteps (int)

Return type:

Dict[str, Dict[str, float]]

step_tensor(ctrl, nsteps=1)[source]
Parameters:
Return type:

Dict[str, Dict[str, float]]

set_state_tensor(env_indices, qpos, qvel, randomization=None)[source]
Parameters:
Return type:

Dict[str, Dict[str, float]]

close()[source]
Return type:

None