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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) — Name of the actor.
  • position (List[float], optional, defaults to [0.0, 0.0, 0.0]) — Position of the actor in the scene.
  • rotation (List[float], optional, defaults to [0.0, 0.0, 0.0]) — Rotation of the actor in the scene.
  • scaling (Union[float, List[float]], optional, defaults to 1.0) — Scaling of the actor in the scene.
  • transformation_matrix (np.ndarray, optional, defaults to None) — Transformation matrix of the actor in the scene.
  • parent (Asset, optional, defaults to None) — Parent of the actor in the scene.
  • children (Asset or List[Asset], optional, defaults to None) — Children of the actor in the scene.

Creates a bare-bones RL agent in the scene.

copy

< >

( with_children: bool = True **kwargs: typing.Any ) → copy (SimpleActor)

Parameters

  • with_children (bool, optional, defaults to True) — Whether to copy the children of the asset.

Returns

copy (SimpleActor)

The copied asset.

Make a copy of the Asset. Parent and children are not attached to the copy.

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, defaults to 1.0) — Mass of the actor.
  • name (str, optional, defaults to None) — Name of the actor.
  • position (List[float], optional, defaults to [0.0, 1.05, 0.0]) — Position of the actor in the scene.
  • rotation (List[float], optional, defaults to [0.0, 0.0, 0.0]) — Rotation of the actor in the scene.
  • scaling (float or List[float], optional, defaults to 1.0) — Scaling of the actor in the scene.
  • camera_height (int, optional, defaults to 40) — Height of the camera above the actor.
  • camera_width (int, optional, defaults to 40) — Width of the camera above the actor.
  • transformation_matrix (np.ndarray, optional, defaults to None) — Transformation matrix of the actor in the scene.
  • parent (Asset, optional, defaults to None) — Parent of the actor in the scene.
  • children (Asset or List[Asset], optional, defaults to None) — Children of the actor in the scene.

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

copy

< >

( with_children: bool = True **kwargs: typing.Any ) → copy (EgocentricCameraActor)

Parameters

  • with_children (bool, optional, defaults to True) — Whether to copy the children of the asset.

Returns

copy (EgocentricCameraActor)

The copied asset.

Make a copy of the Asset. Parent and children are not attached to the copy.

Under construction 🚧.

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