feat: support isaac gym interface

[Gaiejj]

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

hand.mp4

Experiment and Performance

• ShadowHandOverSafeFinger

• ShadowHandOverSafeJoint

• ShadowHandCatchOver2UnderarmSafeFinger

• ShadowHandCatchOver2UnderarmSafeJoint

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)
• 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!

• I have read the CONTRIBUTION guide. (required)
• 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.
• I have reformatted the code using make format. (required)
• I have checked the code using make lint. (required)
• I have ensured make test pass. (required)

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 96.84%. Comparing base (3c9a235) to head (86e72d8).

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #325      +/-   ##
==========================================
+ Coverage   96.57%   96.84%   +0.27%     
==========================================
  Files         139      138       -1     
  Lines        7088     7060      -28     
==========================================
- Hits         6845     6837       -8     
+ Misses        243      223      -20     

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[muchvo]

Approve.

[muchvo]

Approve.