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53 lines
1.9 KiB
Python
53 lines
1.9 KiB
Python
#!/usr/bin/env python
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"""Define the Isaac SDK simulator API.
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This is the main interface that communicates with the Isaac SDK simulator [1]. By defining this interface, it allows to
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decouple the PyRoboLearn framework from the simulator.
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The signature of each method defined here are inspired by [2] but in accordance with the PEP8 style guide [3].
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Parts of the documentation for the methods have been copied-pasted from [2] for completeness purposes.
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Dependencies in PRL:
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* `pyrobolearn.simulators.simulator.Simulator`
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References:
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[1] Isaac SDK: https://developer.nvidia.com/isaac-sdk
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[2] PyBullet Quickstart Guide: https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA
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[3] PEP8: https://www.python.org/dev/peps/pep-0008/
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"""
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# TODO: waiting for its release at the end of March
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import time
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import numpy as np
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from pyrobolearn.simulators.simulator import Simulator
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__author__ = "Brian Delhaisse"
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__copyright__ = "Copyright 2018, PyRoboLearn"
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__credits__ = ["Brian Delhaisse"]
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__license__ = "MIT"
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__version__ = "1.0.0"
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__maintainer__ = "Brian Delhaisse"
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__email__ = "briandelhaisse@gmail.com"
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__status__ = "Development"
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class Isaac(Simulator):
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r"""Isaac simulator.
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"Isaac Sim is a virtual robotics laboratory, a high-fidelity 3D world simulator, that accelerates the research,
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design and development of robots by reducing both cost and risk. Developers can quickly and easily train and test
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their robots created with the Isaac SDK, in detailed, highly realistic scenarios resulting robots that can safely
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operate and cooperate with humans." [1]
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References:
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[1] https://developer.nvidia.com/isaac-sdk
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[2] https://www.nvidia.com/en-au/deep-learning-ai/industries/robotics/
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[3] "GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learning", Liang et al., 2018
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"""
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def __init__(self, render=True, **kwargs):
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super(Isaac, self).__init__()
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