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unisim.backend.isaacsim.tensor_ipc.HostCudaIpcArena¶

class unisim.backend.isaacsim.tensor_ipc.HostCudaIpcArena[source]¶

Bases: object

Producer-owned canonical arena exported to the IsaacSim worker.

Parameters:

num_envs (int)
nq (int)
nv (int)
nu (int)
nbody (int)
device (Any)

Methods

`__init__`(*, num_envs, nq, nv, nu, nbody[, ...])
`close`()
`record_control`()
`record_reset`()
`to_payload`([sensor_descriptors])
`wait_state`()
`write_control`(ctrl)
`write_reset`(env_indices, qpos, qvel[, ...])

Attributes

`body_state`
`ctrl`
`device_index`
`device_uuid`
`qpos`
`qvel`
`reset_env_indices`
`reset_kd`
`reset_kp`
`reset_qpos`
`reset_qvel`
`sensor_state`

__init__(*, num_envs, nq, nv, nu, nbody, device='cuda')[source]¶

Parameters:

num_envs (int)
nq (int)
nv (int)
nu (int)
nbody (int)
device (Any)

property qpos: Any¶

property device_uuid: str¶

property qvel: Any¶

property device_index: int¶

property ctrl: Any¶

property reset_env_indices: Any¶

property reset_qpos: Any¶

property reset_qvel: Any¶

property reset_kp: Any¶

property reset_kd: Any¶

property body_state: Any¶

property sensor_state: Any¶

to_payload(sensor_descriptors=None)[source]¶

Parameters:: sensor_descriptors (list[dict[str, Any]] | None)
Return type:: dict[str, Any]

write_control(ctrl)[source]¶

Parameters:: ctrl (Any)
Return type:: None

record_control()[source]¶

Return type:: None

write_reset(env_indices, qpos, qvel, randomization=None)[source]¶

Parameters:

env_indices (Any)
qpos (Any)
qvel (Any)
randomization (dict[str, Any] | None)

Return type:

record_reset()[source]¶

Return type:: None

wait_state()[source]¶

Return type:: None

close()[source]¶

Return type:: None