grutopia.core.env

env

class grutopia.core.env.BaseEnv(config: SimulatorConfig, headless: bool = True, webrtc: bool = False, native: bool = False)

Env base class. All tasks should inherit from this class(or subclass).

close()

close the environment

get_observations() → List[Dict[str, Any]]

Get observations from Isaac environment :returns: observations :rtype: List[Dict[str, Any]]

reset(envs: List[int] | None = None)

reset the environment(use isaac word reset)

Parameters:

envs (List[int]) – env need to be reset(default for reset all envs)

property simulation_app

simulation app instance

property simulation_config

config of simulation environment

step(actions: List[Dict[str, Any]]) → List[Dict[str, Any]]

run step with given action(with isaac step)

Parameters:

actions (List[Dict[str, Any]]) – action(with isaac step)

Returns:

observations(with isaac step)

Return type:

List[Dict[str, Any]]

runner

class grutopia.core.runner.SimulatorRunner(config: SimulatorConfig)