unisim.backend.isaacgym.worker¶
Python 3.8 worker process for the out-of-process IsaacGym backend.
PYTHON 3.8 COMPATIBILITY: IsaacGym (Preview 4, EOL) only supports Python
3.6-3.8, so this file runs on the dedicated hsgym conda interpreter. Keep
it stdlib + numpy + torch + isaacgym only, and never import unilab — the
shared protocol module is loaded by file path (--protocol) because the
worker interpreter has no access to the main environment’s site-packages.
Message loop: read one framed command from stdin, dispatch, write one framed
reply to stdout. Bulk state crosses the process boundary through shared
memory slots declared by the host (see protocol.slot_shapes); the pipe
only carries commands, metadata, and error payloads.
Functions
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