unisim.backend.isaacsim.worker¶
IsaacSim/IsaacLab Python 3.11 worker for the UniLab subprocess backend.
The worker is intentionally self-contained. It imports Kit and IsaacLab only
after receiving INIT and communicates with the host through the canonical
subprocess_ipc.protocol module loaded by path. Control messages stay on
the pipe; all batched numeric state is copied into shared-memory slots.
This worker implements MJCF-backed articulation physics, masked root/joint reset, implicit position-target control, and the eval-owned Kit viewer/RGB camera commands. Rendering is selected before Kit starts so a training worker can remain on the inexpensive no-rendering experience.
Functions
|