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unisim.backend.isaacgym.tensor.IsaacGymCudaIpcWorkerRuntime¶

class unisim.backend.isaacgym.tensor.IsaacGymCudaIpcWorkerRuntime[source]¶

Bases: object

Project native IsaacGym tensors into the host-owned CUDA IPC arena.

Parameters:

context (Any)
cuda_ipc (Any)
transport (Any)
memory (Any)
control_event (Any)
state_event (Any)
reset_event (Any)
arena (IsaacGymCudaIpcArenaLayout)
sensor_specs (Optional[Sequence[Dict[str, Any]]])

Methods

`__init__`(context, cuda_ipc, transport, ...)
`close`()
`publish_state`(*[, record_event])
`set_state`(payload)
`step`(payload)

__init__(context, cuda_ipc, transport, memory, control_event, state_event, reset_event, arena, sensor_specs=None)[source]¶

Parameters:

context (Any)
cuda_ipc (Any)
transport (Any)
memory (Any)
control_event (Any)
state_event (Any)
reset_event (Any)
arena (IsaacGymCudaIpcArenaLayout)
sensor_specs (Optional[Sequence[Dict[str, Any]]])

publish_state(*, record_event=True)[source]¶

Parameters:: record_event (bool)
Return type:: None

set_state(payload)[source]¶

Parameters:: payload (Dict[str, Any])
Return type:: Dict[str, Any]

step(payload)[source]¶

Parameters:: payload (Dict[str, Any])
Return type:: Dict[str, Any]

close()[source]¶

Return type:: None