Description

This PR is already complete in terms of implementation accuracy. We will merge it shortly after improving the code style and documentation.

Support Safe Isaac Gym tasks in Safety-Gymnasium

Example Demo

https://github.com/PKU-Alignment/omnisafe/assets/108712610/11536396-a2fd-471f-b37d-fcbc014cc568

Experiment and Performance

ShadowHandOverSafeFinger

figure_ShadowHandOver_Safe_finger

ShadowHandOverSafeJoint

figure_ShadowHandOver_Safe_joint

ShadowHandCatchOver2UnderarmSafeFinger

figure_ShadowHandCatchOver2Underarm_Safe_finger

ShadowHandCatchOver2UnderarmSafeJoint

figure_ShadowHandCatchOver2Underarm_Safe_joint

Motivation and Context

Isaac Gym is a GPU-based large-scale parallel robotic simulation environment. We believe that support for the Safe Isaac Gym tasks will expand OmniSafe ’s application in robotic control safety tasks.

Types of changes

What types of changes does your code introduce? Put an x in all the boxes that apply:

[ ] Bug fix (non-breaking change which fixes an issue)
[x] New feature (non-breaking change which adds core functionality)
[ ] Breaking change (fix or feature that would cause existing functionality to change)
[ ] Documentation (update in the documentation)

Checklist

Go over all the following points, and put an x in all the boxes that apply. If you are unsure about any of these, don't hesitate to ask. We are here to help!

[x] I have read the CONTRIBUTION guide. (required)
[x] My change requires a change to the documentation.
[ ] I have updated the tests accordingly. (required for a bug fix or a new feature)
[ ] I have updated the documentation accordingly.
[x] I have reformatted the code using make format. (required)
[x] I have checked the code using make lint. (required)
[ ] I have ensured make test pass. (required)

PKU-Alignment / omnisafe

feat: support isaac gym interface #325