Is it possible to use Isaac Gym without simulating physics? about isaacgymenvs HOT 2 CLOSED

The key thing that Isaac Gym keeps on the GPU is the physics simulation. If you are not running physics simulation at all, and your environment stepping is something other than a physics simulator, you would need to figure out some way to do your environment stepping on the GPU. Unfortunately, torch.jit often doesn't produce very fast GPU code. I don't think this is going to get you where you want to go.

That said, I think that NVIDIA WARP may be a solution for these kinds of needs. You could probably adjust other existing RL environments to use WARP. See more tomorrow: https://www.nvidia.com/gtc/session-catalog/?tab.scheduledorondemand=1583520458947001NJiE&search=warp#/session/16384065793850013gEx

We'll be exploring WARP with Isaac Gym and physical simulation as well, but non-physics RL is not our main focus.

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I am also looking at transfer RL task from CPU clusters to GPU that doesn't require physical actor.

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