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Actuators

class simulate.Actuator

< >

( mapping: typing.List[simulate.assets.action_mapping.ActionMapping] actuator_tag: typing.Optional[str] = None n: typing.Union[int, typing.List[int], NoneType] = None low: typing.Union[float, typing.List[float], numpy.ndarray, NoneType] = None high: typing.Union[float, typing.List[float], numpy.ndarray, NoneType] = None shape: typing.Optional[typing.List[int]] = None dtype: str = 'float32' seed: typing.Optional[int] = None )

Parameters

  • mapping (List[ActionMapping]) — A list of ActionMapping (to physics engine behaviors)
  • actuator_tag (str, optional, defaults to “actuator”) —: A string tag for the actuator that is used to group actuators together when sending actions (we always have a scene-level gym dict space).
  • n (int or List[int], optional, defaults to None) — For discrete actions, the number of possible actions. For multi-binary actions, the number of possible binary actions or a list of the number of possible actions for each dimension.
  • low (float or List[float] or np.ndarray, optional, defaults to None) — Low bound of continuous action space dimensions, either a float or list of floats.
  • high (float or List[float] or np.ndarray, optional, defaults to None) — High bound of continuous action space dimensions, either a float or list of floats.
  • shape (List[int], optional, defaults to None) — Shape of continuous action space, should match low/high.
  • dtype (str, optional, defaults to "float32") — Sampling type for continuous action spaces only.

An Asset Actuator can be used to move an asset in the scene. The actuator is designed to be a part of an Actor that manipulates a scene.

We define:

  • the space were the actions operate (discrete, continuous), it’s similar to gym spaces in RL, self.action_space is a gym.space (define the space action happens in and allow to sample)
  • a mapping to the physics engine behavior self.mapping is a list of ActionMapping (to physics engine behaviors)

Under construction 🚧.