Isaacgym environment creation and step functionality is abstracted away in a dedicated IsaacGymWrapper. This wrapper initializes environments with a set number of spherical obstacles (initialized under ground plane). When a runtime sphere obstacle is requested, the position and radius of one of the initialized obstacles is set.
Run the example point_robot_with_obstacle.py to test.
Isaacgym environment creation and step functionality is abstracted away in a dedicated IsaacGymWrapper. This wrapper initializes environments with a set number of spherical obstacles (initialized under ground plane). When a runtime sphere obstacle is requested, the position and radius of one of the initialized obstacles is set.
Run the example
point_robot_with_obstacle.pyto test.