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Actors

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Actors

class simulate.SimpleActor

< >

( name: typing.Optional[str] = None position: typing.Optional[typing.List[float]] = None rotation: typing.Optional[typing.List[float]] = None scaling: typing.Union[float, typing.List[float], NoneType] = None transformation_matrix: typing.Optional[numpy.ndarray] = None material: typing.Optional[simulate.assets.material.Material] = None parent: typing.Optional[ForwardRef('Asset')] = None children: typing.Union[ForwardRef('Asset'), typing.List[ForwardRef('Asset')], NoneType] = None **kwargs )

Parameters

  • name (str) — position — length 3 list of the position of the agent, defaults to (0,0,0) rotation — length 3 list of the rotation of the agent, defaults to (0,0,0) scaling — transformation_matrix — parent — children —

Creates a bare-bones RL agent in the scene.

A SimpleActor is a sphere asset with:

  • basic XYZ positional control (continuous),
  • mass of 1 (default)
  • no attached Camera

class simulate.EgocentricCameraActor

< >

( mass: float = 1.0 name: typing.Optional[str] = None position: typing.Optional[typing.List[float]] = None rotation: typing.Optional[typing.List[float]] = None scaling: typing.Union[float, typing.List[float], NoneType] = None camera_height: int = 40 camera_width: int = 40 camera_tag: typing.Optional[str] = 'CameraSensor' transformation_matrix: typing.Optional[numpy.ndarray] = None material: typing.Optional[simulate.assets.material.Material] = None parent: typing.Optional[ForwardRef('Asset')] = None children: typing.Union[ForwardRef('Asset'), typing.List[ForwardRef('Asset')], NoneType] = None **kwargs )

Parameters

  • mass (float, Optional) —
  • name (str) — position — length 3 list of the position of the agent, defaults to (0,0,0) rotation — length 3 list of the rotation of the agent, defaults to (0,0,0) scaling — camera_height — pixel height of first-person camera observations camera_width — pixel width of first-person camera observations transformation_matrix — parent — children —

Create an Egocentric RL Actor in the Scene — essentially a basic first-person agent.

An egocentric actor is a capsule asset with:

  • a Camera as a child asset for observation device
  • a RigidBodyComponent component with a mass of 1.0
  • a discrete actuator

Under construction 🚧.

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