simulate/main/en/api/rl_env.html

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<h1 class="relative group"><a id="simulate.RLEnv" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#simulate.RLEnv"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a>
	<span>RL Environment Wrappers
	</span></h1>

<div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8">

<div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="simulate.RLEnv"><!-- HTML_TAG_START --><h3 class="!m-0"><span class="flex-1 break-all md:text-lg bg-gradient-to-r px-2.5 py-1.5 rounded-xl from-indigo-50/70 to-white dark:from-gray-900 dark:to-gray-950 dark:text-indigo-300 text-indigo-700"><svg class="mr-1.5 text-indigo-500 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" focusable="false" role="img" width=".8em" height=".8em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 24 24"><path class="uim-quaternary" d="M20.23 7.24L12 12L3.77 7.24a1.98 1.98 0 0 1 .7-.71L11 2.76c.62-.35 1.38-.35 2 0l6.53 3.77c.29.173.531.418.7.71z" opacity=".25" fill="currentColor"></path><path class="uim-tertiary" d="M12 12v9.5a2.09 2.09 0 0 1-.91-.21L4.5 17.48a2.003 2.003 0 0 1-1-1.73v-7.5a2.06 2.06 0 0 1 .27-1.01L12 12z" opacity=".5" fill="currentColor"></path><path class="uim-primary" d="M20.5 8.25v7.5a2.003 2.003 0 0 1-1 1.73l-6.62 3.82c-.275.13-.576.198-.88.2V12l8.23-4.76c.175.308.268.656.27 1.01z" fill="currentColor"></path></svg><span class="font-light">class</span> <span class="font-medium">simulate.</span><span class="font-semibold">RLEnv</span></span></h3><!-- HTML_TAG_END -->
		<a id="simulate.RLEnv" class="header-link invisible with-hover:group-hover:visible pr-2" href="#simulate.RLEnv"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a>
		<a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/simulate/blob/main/src/simulate/rl/rl_env.py#L23" target="_blank"><span>&lt;</span>
				<span class="hidden md:block mx-0.5 hover:!underline">source</span>
				<span>&gt;</span></a></span>
	<p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span>
			<span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">scene<span class="opacity-60">: Scene</span></span>
				</span><span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">time_step<span class="opacity-60">: typing.Optional[float] = 0.03333333333333333</span></span>
				</span><span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">frame_skip<span class="opacity-60">: typing.Optional[int] = 4</span></span>
				</span>
			<span>)</span>
			</p>

	
	<div class="!mb-10 relative docstring-details ">
		<p class="flex items-center font-semibold !mt-2 !mb-2 text-gray-800">Parameters <span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700 ml-3"></span></p>
			<ul class="px-2"><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="simulate.RLEnv.scene" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#simulate.RLEnv.scene"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a>
							<span><!-- HTML_TAG_START --><strong>scene</strong> (<code>Scene</code>) &#x2014;
The Simulate scene to be wrapped.<!-- HTML_TAG_END -->
							</span></span>
					</li><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="simulate.RLEnv.time_step" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#simulate.RLEnv.time_step"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a>
							<span><!-- HTML_TAG_START --><strong>time_step</strong> (<code>float</code>, <em>optional</em>, defaults to <code>1/30.0</code>) &#x2014;
The physics timestep of the environment.<!-- HTML_TAG_END -->
							</span></span>
					</li><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="simulate.RLEnv.frame_skip" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#simulate.RLEnv.frame_skip"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a>
							<span><!-- HTML_TAG_START --><strong>frame_skip</strong> (<code>int</code>, <em>optional</em>, defaults to <code>4</code>) &#x2014;
The number of times an action is repeated in the backend simulation before the next observation is returned.<!-- HTML_TAG_END -->
							</span></span>
					</li></ul>
		
		
		</div></div>
<p>The basic RL environment wrapper for Simulate scene following the Gym API.</p>
<div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8">

<div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="simulate.RLEnv.close"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5"  xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>close</span></h4><!-- HTML_TAG_END -->
		<a id="simulate.RLEnv.close" class="header-link invisible with-hover:group-hover:visible pr-2" href="#simulate.RLEnv.close"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a>
		<a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/simulate/blob/main/src/simulate/rl/rl_env.py#L255" target="_blank"><span>&lt;</span>
				<span class="hidden md:block mx-0.5 hover:!underline">source</span>
				<span>&gt;</span></a></span>
	<p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span>
			
			<span>)</span>
			</p>

	
	<div class="!mb-10 relative docstring-details ">
		
		
		
		</div></div>
<p>Close the scene.</p></div>
<div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8">

<div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="simulate.RLEnv.get_attr"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5"  xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>get_attr</span></h4><!-- HTML_TAG_END -->
		<a id="simulate.RLEnv.get_attr" class="header-link invisible with-hover:group-hover:visible pr-2" href="#simulate.RLEnv.get_attr"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a>
		<a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/simulate/blob/main/src/simulate/rl/rl_env.py#L284" target="_blank"><span>&lt;</span>
				<span class="hidden md:block mx-0.5 hover:!underline">source</span>
				<span>&gt;</span></a></span>
	<p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span>
			<span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">attr_name<span class="opacity-60">: str</span></span>
				</span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">indices<span class="opacity-60">: typing.Any = None</span></span>
				</span>
			<span>)</span>
			</p>

	
	<div class="!mb-10 relative docstring-details ">
		
		
		
		</div></div>
<p>Return a class attribute by name.</p></div>
<div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8">

<div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="simulate.RLEnv.reset"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5"  xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>reset</span></h4><!-- HTML_TAG_END -->
		<a id="simulate.RLEnv.reset" class="header-link invisible with-hover:group-hover:visible pr-2" href="#simulate.RLEnv.reset"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a>
		<a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/simulate/blob/main/src/simulate/rl/rl_env.py#L205" target="_blank"><span>&lt;</span>
				<span class="hidden md:block mx-0.5 hover:!underline">source</span>
				<span>&gt;</span></a></span>
	<p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span>
			
			<span>)</span>
			<span class="font-bold">→</span>
				<span class="rounded hover:bg-gray-400 cursor-pointer"><!-- HTML_TAG_START --><span>obs (<code>Dict</code>)</span><!-- HTML_TAG_END --></span></p>

	
	<div class="!mb-10 relative docstring-details ">
		
		
		<div id="simulate.RLEnv.reset.returns" class="flex items-center font-semibold space-x-3 text-base !mt-0 !mb-0 text-gray-800 rounded "><p class="text-base">Returns</p>
				<!-- HTML_TAG_START -->
<p>obs (<code>Dict</code>)</p>
<!-- HTML_TAG_END -->
				<span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700"></span></div>
			<p class="text-base"><!-- HTML_TAG_START -->
<p>the observation of the environment after reset.</p>
<!-- HTML_TAG_END --></p>
		</div></div>
<p>Resets the actors and the scene of the environment.</p></div>
<div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8">

<div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="simulate.RLEnv.sample_action"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5"  xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>sample_action</span></h4><!-- HTML_TAG_END -->
		<a id="simulate.RLEnv.sample_action" class="header-link invisible with-hover:group-hover:visible pr-2" href="#simulate.RLEnv.sample_action"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a>
		<a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/simulate/blob/main/src/simulate/rl/rl_env.py#L259" target="_blank"><span>&lt;</span>
				<span class="hidden md:block mx-0.5 hover:!underline">source</span>
				<span>&gt;</span></a></span>
	<p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span>
			
			<span>)</span>
			<span class="font-bold">→</span>
				<span class="rounded hover:bg-gray-400 cursor-pointer"><!-- HTML_TAG_START --><span>action (<code>list[list[list[float]]]</code>)</span><!-- HTML_TAG_END --></span></p>

	
	<div class="!mb-10 relative docstring-details ">
		
		
		<div id="simulate.RLEnv.sample_action.returns" class="flex items-center font-semibold space-x-3 text-base !mt-0 !mb-0 text-gray-800 rounded "><p class="text-base">Returns</p>
				<!-- HTML_TAG_START -->
<p>action (<code>list[list[list[float]]]</code>)</p>
<!-- HTML_TAG_END -->
				<span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700"></span></div>
			<p class="text-base"><!-- HTML_TAG_START -->
<p>Lists of the actions, dimensions are n-maps, n-actors, action-dim.</p>
<!-- HTML_TAG_END --></p>
		</div></div>
<p>Samples an action from the actors in the environment. This function loads the configuration of maps and actors
to return the correct shape across multiple configurations.</p></div>
<div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8">

<div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="simulate.RLEnv.step"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5"  xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>step</span></h4><!-- HTML_TAG_END -->
		<a id="simulate.RLEnv.step" class="header-link invisible with-hover:group-hover:visible pr-2" href="#simulate.RLEnv.step"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a>
		<a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/simulate/blob/main/src/simulate/rl/rl_env.py#L82" target="_blank"><span>&lt;</span>
				<span class="hidden md:block mx-0.5 hover:!underline">source</span>
				<span>&gt;</span></a></span>
	<p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span>
			<span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">action<span class="opacity-60">: typing.Union[typing.Dict, typing.List, numpy.ndarray]</span></span>
				</span>
			<span>)</span>
			<span class="font-bold">→</span>
				<span class="rounded hover:bg-gray-400 cursor-pointer"><!-- HTML_TAG_START --><span>observation (<code>Dict</code>)</span><!-- HTML_TAG_END --></span></p>

	
	<div class="!mb-10 relative docstring-details ">
		<p class="flex items-center font-semibold !mt-2 !mb-2 text-gray-800">Parameters <span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700 ml-3"></span></p>
			<ul class="px-2"><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="simulate.RLEnv.step.action" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#simulate.RLEnv.step.action"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a>
							<span><!-- HTML_TAG_START --><strong>action</strong> (<code>Dict</code> or <code>List</code>) &#x2014;
The action to be taken by the environment.<!-- HTML_TAG_END -->
							</span></span>
					</li></ul>
		
		<div id="simulate.RLEnv.step.returns" class="flex items-center font-semibold space-x-3 text-base !mt-0 !mb-0 text-gray-800 rounded "><p class="text-base">Returns</p>
				<!-- HTML_TAG_START -->
<p>observation (<code>Dict</code>)</p>
<!-- HTML_TAG_END -->
				<span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700"></span></div>
			<p class="text-base"><!-- HTML_TAG_START -->
<p>A dictionary of observations from the environment.
reward (<code>float</code>):
The reward for the action.
done (<code>bool</code>):
Whether the episode has ended.
info (<code>Dict</code>):
A dictionary of additional information.</p>
<!-- HTML_TAG_END --></p>
		</div></div>
<p>The step function for the environment, follows the API from OpenAI Gym.</p>
<p>TODO verify, a dict with actuator tags as keys and as values a Tensor of shape (n_show, n_actors, n_actions)</p></div>
<div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8">

<div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="simulate.RLEnv.step_async"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5"  xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>step_async</span></h4><!-- HTML_TAG_END -->
		<a id="simulate.RLEnv.step_async" class="header-link invisible with-hover:group-hover:visible pr-2" href="#simulate.RLEnv.step_async"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a>
		<a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/simulate/blob/main/src/simulate/rl/rl_env.py#L280" target="_blank"><span>&lt;</span>
				<span class="hidden md:block mx-0.5 hover:!underline">source</span>
				<span>&gt;</span></a></span>
	<p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span>
			<span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">actions<span class="opacity-60">: ndarray</span></span>
				</span>
			<span>)</span>
			</p>

	
	<div class="!mb-10 relative docstring-details ">
		
		
		
		</div></div>
<p>Step the environment asynchronously.</p></div>
<div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8">

<div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="simulate.RLEnv.step_recv_async"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5"  xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>step_recv_async</span></h4><!-- HTML_TAG_END -->
		<a id="simulate.RLEnv.step_recv_async" class="header-link invisible with-hover:group-hover:visible pr-2" href="#simulate.RLEnv.step_recv_async"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a>
		<a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/simulate/blob/main/src/simulate/rl/rl_env.py#L160" target="_blank"><span>&lt;</span>
				<span class="hidden md:block mx-0.5 hover:!underline">source</span>
				<span>&gt;</span></a></span>
	<p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span>
			
			<span>)</span>
			<span class="font-bold">→</span>
				<span class="rounded hover:bg-gray-400 cursor-pointer"><!-- HTML_TAG_START --><span>observation (<code>Dict</code>)</span><!-- HTML_TAG_END --></span></p>

	
	<div class="!mb-10 relative docstring-details ">
		
		
		<div id="simulate.RLEnv.step_recv_async.returns" class="flex items-center font-semibold space-x-3 text-base !mt-0 !mb-0 text-gray-800 rounded "><p class="text-base">Returns</p>
				<!-- HTML_TAG_START -->
<p>observation (<code>Dict</code>)</p>
<!-- HTML_TAG_END -->
				<span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700"></span></div>
			<p class="text-base"><!-- HTML_TAG_START -->
<p>A dictionary containing the observation from the environment.
reward (<code>float</code>):
The reward for the action.
done (<code>bool</code>):
Whether the episode has ended.
info (<code>Dict</code>):
A dictionary of additional information.</p>
<!-- HTML_TAG_END --></p>
		</div></div>
<p>Receive the response from the environment asynchronously.</p></div>
<div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8">

<div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="simulate.RLEnv.step_send_async"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5"  xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>step_send_async</span></h4><!-- HTML_TAG_END -->
		<a id="simulate.RLEnv.step_send_async" class="header-link invisible with-hover:group-hover:visible pr-2" href="#simulate.RLEnv.step_send_async"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a>
		<a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/simulate/blob/main/src/simulate/rl/rl_env.py#L106" target="_blank"><span>&lt;</span>
				<span class="hidden md:block mx-0.5 hover:!underline">source</span>
				<span>&gt;</span></a></span>
	<p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span>
			<span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">action<span class="opacity-60">: typing.Union[typing.Dict, typing.List, numpy.ndarray]</span></span>
				</span>
			<span>)</span>
			</p>

	
	<div class="!mb-10 relative docstring-details ">
		<p class="flex items-center font-semibold !mt-2 !mb-2 text-gray-800">Parameters <span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700 ml-3"></span></p>
			<ul class="px-2"><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="simulate.RLEnv.step_send_async.action" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#simulate.RLEnv.step_send_async.action"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a>
							<span><!-- HTML_TAG_START --><strong>action</strong> (<code>Dict</code> or <code>List</code> or <code>ndarray</code>) &#x2014; The action to be executed in the environment.<!-- HTML_TAG_END -->
							</span></span>
					</li></ul>
		
		
		</div></div>
<p>Send action for execution asynchronously.</p></div></div>
<div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8">

<div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="simulate.ParallelRLEnv"><!-- HTML_TAG_START --><h3 class="!m-0"><span class="flex-1 break-all md:text-lg bg-gradient-to-r px-2.5 py-1.5 rounded-xl from-indigo-50/70 to-white dark:from-gray-900 dark:to-gray-950 dark:text-indigo-300 text-indigo-700"><svg class="mr-1.5 text-indigo-500 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" focusable="false" role="img" width=".8em" height=".8em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 24 24"><path class="uim-quaternary" d="M20.23 7.24L12 12L3.77 7.24a1.98 1.98 0 0 1 .7-.71L11 2.76c.62-.35 1.38-.35 2 0l6.53 3.77c.29.173.531.418.7.71z" opacity=".25" fill="currentColor"></path><path class="uim-tertiary" d="M12 12v9.5a2.09 2.09 0 0 1-.91-.21L4.5 17.48a2.003 2.003 0 0 1-1-1.73v-7.5a2.06 2.06 0 0 1 .27-1.01L12 12z" opacity=".5" fill="currentColor"></path><path class="uim-primary" d="M20.5 8.25v7.5a2.003 2.003 0 0 1-1 1.73l-6.62 3.82c-.275.13-.576.198-.88.2V12l8.23-4.76c.175.308.268.656.27 1.01z" fill="currentColor"></path></svg><span class="font-light">class</span> <span class="font-medium">simulate.</span><span class="font-semibold">ParallelRLEnv</span></span></h3><!-- HTML_TAG_END -->
		<a id="simulate.ParallelRLEnv" class="header-link invisible with-hover:group-hover:visible pr-2" href="#simulate.ParallelRLEnv"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a>
		<a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/simulate/blob/main/src/simulate/rl/parallel_rl_env.py#L52" target="_blank"><span>&lt;</span>
				<span class="hidden md:block mx-0.5 hover:!underline">source</span>
				<span>&gt;</span></a></span>
	<p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span>
			<span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">map_fn<span class="opacity-60">: typing.Union[typing.Callable, simulate.scene.Scene]</span></span>
				</span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">n_maps<span class="opacity-60">: typing.Optional[int] = 1</span></span>
				</span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">n_show<span class="opacity-60">: typing.Optional[int] = 1</span></span>
				</span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">time_step<span class="opacity-60">: typing.Optional[float] = 0.03333333333333333</span></span>
				</span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">frame_skip<span class="opacity-60">: typing.Optional[int] = 4</span></span>
				</span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">**engine_kwargs<span class="opacity-60"></span></span>
				</span>
			<span>)</span>
			</p>

	
	<div class="!mb-10 relative docstring-details ">
		<p class="flex items-center font-semibold !mt-2 !mb-2 text-gray-800">Parameters <span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700 ml-3"></span></p>
			<ul class="px-2"><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="simulate.ParallelRLEnv.map_fn" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#simulate.ParallelRLEnv.map_fn"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a>
							<span><!-- HTML_TAG_START --><strong>map_fn</strong> (<code>Callable</code>) &#x2014;
a generator function that returns a RLEnv for generating instances of the desired environment.<!-- HTML_TAG_END -->
							</span></span>
					</li><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="simulate.ParallelRLEnv.n_parallel" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#simulate.ParallelRLEnv.n_parallel"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a>
							<span><!-- HTML_TAG_START --><strong>n_parallel</strong> (<code>int</code>) &#x2014;
the number of executable instances to create.<!-- HTML_TAG_END -->
							</span></span>
					</li><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="simulate.ParallelRLEnv.starting_port" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#simulate.ParallelRLEnv.starting_port"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a>
							<span><!-- HTML_TAG_START --><strong>starting_port</strong> (<code>int</code>, <em>optional</em>, defaults to <code>55001</code>) &#x2014;
initial communication port for spawned executables.<!-- HTML_TAG_END -->
							</span></span>
					</li></ul>
		
		
		</div></div>
<p>RL environment wrapper for Simulate scene. Uses functionality from the VecEnv in stable baselines 3
For more information on VecEnv, see the source
<a href="https://stable-baselines3.readthedocs.io/en/master/guide/vec_envs.html" rel="nofollow">https://stable-baselines3.readthedocs.io/en/master/guide/vec_envs.html</a></p>
<div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8">

<div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="simulate.ParallelRLEnv.close"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5"  xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>close</span></h4><!-- HTML_TAG_END -->
		<a id="simulate.ParallelRLEnv.close" class="header-link invisible with-hover:group-hover:visible pr-2" href="#simulate.ParallelRLEnv.close"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a>
		<a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/simulate/blob/main/src/simulate/rl/parallel_rl_env.py#L299" target="_blank"><span>&lt;</span>
				<span class="hidden md:block mx-0.5 hover:!underline">source</span>
				<span>&gt;</span></a></span>
	<p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span>
			
			<span>)</span>
			</p>

	
	<div class="!mb-10 relative docstring-details ">
		
		
		
		</div></div>
<p>Close the environment.</p></div>
<div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8">

<div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="simulate.ParallelRLEnv.env_is_wrapped"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5"  xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>env_is_wrapped</span></h4><!-- HTML_TAG_END -->
		<a id="simulate.ParallelRLEnv.env_is_wrapped" class="header-link invisible with-hover:group-hover:visible pr-2" href="#simulate.ParallelRLEnv.env_is_wrapped"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a>
		<a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/simulate/blob/main/src/simulate/rl/parallel_rl_env.py#L322" target="_blank"><span>&lt;</span>
				<span class="hidden md:block mx-0.5 hover:!underline">source</span>
				<span>&gt;</span></a></span>
	<p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span>
			<span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">wrapper_class<span class="opacity-60">: typing.Type[gym.core.Wrapper]</span></span>
				</span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">indices<span class="opacity-60">: typing.Union[NoneType, int, typing.Iterable[int]] = None</span></span>
				</span>
			<span>)</span>
			</p>

	
	<div class="!mb-10 relative docstring-details ">
		
		
		
		</div></div>
<p>Check if the environment is wrapped.</p></div>
<div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8">

<div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="simulate.ParallelRLEnv.reset"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5"  xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>reset</span></h4><!-- HTML_TAG_END -->
		<a id="simulate.ParallelRLEnv.reset" class="header-link invisible with-hover:group-hover:visible pr-2" href="#simulate.ParallelRLEnv.reset"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a>
		<a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/simulate/blob/main/src/simulate/rl/parallel_rl_env.py#L226" target="_blank"><span>&lt;</span>
				<span class="hidden md:block mx-0.5 hover:!underline">source</span>
				<span>&gt;</span></a></span>
	<p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span>
			
			<span>)</span>
			<span class="font-bold">→</span>
				<span class="rounded hover:bg-gray-400 cursor-pointer"><!-- HTML_TAG_START --><span>obs (<code>Dict</code>)</span><!-- HTML_TAG_END --></span></p>

	
	<div class="!mb-10 relative docstring-details ">
		
		
		<div id="simulate.ParallelRLEnv.reset.returns" class="flex items-center font-semibold space-x-3 text-base !mt-0 !mb-0 text-gray-800 rounded "><p class="text-base">Returns</p>
				<!-- HTML_TAG_START -->
<p>obs (<code>Dict</code>)</p>
<!-- HTML_TAG_END -->
				<span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700"></span></div>
			<p class="text-base"><!-- HTML_TAG_START -->
<p>the observation of the environment after reset.</p>
<!-- HTML_TAG_END --></p>
		</div></div>
<p>Resets the actors and the scene of the environment.</p></div>
<div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8">

<div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="simulate.ParallelRLEnv.sample_action"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5"  xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>sample_action</span></h4><!-- HTML_TAG_END -->
		<a id="simulate.ParallelRLEnv.sample_action" class="header-link invisible with-hover:group-hover:visible pr-2" href="#simulate.ParallelRLEnv.sample_action"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a>
		<a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/simulate/blob/main/src/simulate/rl/parallel_rl_env.py#L303" target="_blank"><span>&lt;</span>
				<span class="hidden md:block mx-0.5 hover:!underline">source</span>
				<span>&gt;</span></a></span>
	<p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span>
			
			<span>)</span>
			<span class="font-bold">→</span>
				<span class="rounded hover:bg-gray-400 cursor-pointer"><!-- HTML_TAG_START --><span>action (<code>list[list[list[float]]]</code>)</span><!-- HTML_TAG_END --></span></p>

	
	<div class="!mb-10 relative docstring-details ">
		
		
		<div id="simulate.ParallelRLEnv.sample_action.returns" class="flex items-center font-semibold space-x-3 text-base !mt-0 !mb-0 text-gray-800 rounded "><p class="text-base">Returns</p>
				<!-- HTML_TAG_START -->
<p>action (<code>list[list[list[float]]]</code>)</p>
<!-- HTML_TAG_END -->
				<span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700"></span></div>
			<p class="text-base"><!-- HTML_TAG_START -->
<p>Lists of the actions, dimensions are n-maps, n-actors, action-dim.</p>
<!-- HTML_TAG_END --></p>
		</div></div>
<p>Samples an action from the actors in the environment. This function loads the configuration of maps and actors to return the correct shape across multiple configurations.</p></div>
<div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8">

<div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="simulate.ParallelRLEnv.step"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5"  xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>step</span></h4><!-- HTML_TAG_END -->
		<a id="simulate.ParallelRLEnv.step" class="header-link invisible with-hover:group-hover:visible pr-2" href="#simulate.ParallelRLEnv.step"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a>
		<a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/simulate/blob/main/src/simulate/rl/parallel_rl_env.py#L125" target="_blank"><span>&lt;</span>
				<span class="hidden md:block mx-0.5 hover:!underline">source</span>
				<span>&gt;</span></a></span>
	<p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span>
			<span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">action<span class="opacity-60">: typing.Union[typing.Dict, typing.List, numpy.ndarray]</span></span>
				</span>
			<span>)</span>
			<span class="font-bold">→</span>
				<span class="rounded hover:bg-gray-400 cursor-pointer"><!-- HTML_TAG_START --><span>all_observation (<code>List[Dict]</code>)</span><!-- HTML_TAG_END --></span></p>

	
	<div class="!mb-10 relative docstring-details ">
		<p class="flex items-center font-semibold !mt-2 !mb-2 text-gray-800">Parameters <span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700 ml-3"></span></p>
			<ul class="px-2"><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="simulate.ParallelRLEnv.step.action" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#simulate.ParallelRLEnv.step.action"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a>
							<span><!-- HTML_TAG_START --><strong>action</strong> (<code>Dict</code> or <code>List</code>) &#x2014;
a dict or list of actions for each actuator.<!-- HTML_TAG_END -->
							</span></span>
					</li></ul>
		
		<div id="simulate.ParallelRLEnv.step.returns" class="flex items-center font-semibold space-x-3 text-base !mt-0 !mb-0 text-gray-800 rounded "><p class="text-base">Returns</p>
				<!-- HTML_TAG_START -->
<p>all_observation (<code>List[Dict]</code>)</p>
<!-- HTML_TAG_END -->
				<span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700"></span></div>
			<p class="text-base"><!-- HTML_TAG_START -->
<p>a list of dict of observations for each sensor.
all_reward (<code>List[float]</code>):
all the rewards for the current step.
all_done (<code>List[bool]</code>):
whether each episode is done.
all_info (<code>List[Dict]</code>):
a list of dict of additional information.</p>
<!-- HTML_TAG_END --></p>
		</div></div>
<p>The step function for the environment, follows the API from OpenAI Gym.</p>
<p>TODO verify, a dict with actuator tags as keys and as values a Tensor of shape (n_show, n_actors, n_actions)</p></div>
<div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8">

<div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="simulate.ParallelRLEnv.step_recv_async"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5"  xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>step_recv_async</span></h4><!-- HTML_TAG_END -->
		<a id="simulate.ParallelRLEnv.step_recv_async" class="header-link invisible with-hover:group-hover:visible pr-2" href="#simulate.ParallelRLEnv.step_recv_async"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a>
		<a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/simulate/blob/main/src/simulate/rl/parallel_rl_env.py#L195" target="_blank"><span>&lt;</span>
				<span class="hidden md:block mx-0.5 hover:!underline">source</span>
				<span>&gt;</span></a></span>
	<p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span>
			
			<span>)</span>
			<span class="font-bold">→</span>
				<span class="rounded hover:bg-gray-400 cursor-pointer"><!-- HTML_TAG_START --><span>obs (<code>Dict</code>)</span><!-- HTML_TAG_END --></span></p>

	
	<div class="!mb-10 relative docstring-details ">
		
		
		<div id="simulate.ParallelRLEnv.step_recv_async.returns" class="flex items-center font-semibold space-x-3 text-base !mt-0 !mb-0 text-gray-800 rounded "><p class="text-base">Returns</p>
				<!-- HTML_TAG_START -->
<p>obs (<code>Dict</code>)</p>
<!-- HTML_TAG_END -->
				<span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700"></span></div>
			<p class="text-base"><!-- HTML_TAG_START -->
<p>A dict of observations for each sensor.
reward (<code>float</code>):
The reward for the current step.
done (<code>bool</code>):
Whether the episode is done.
info (<code>Dict</code>):
A dict of additional information.</p>
<!-- HTML_TAG_END --></p>
		</div></div>
<p>Receive the response of a step from the environment asynchronously.</p></div>
<div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8">

<div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="simulate.ParallelRLEnv.step_send_async"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5"  xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>step_send_async</span></h4><!-- HTML_TAG_END -->
		<a id="simulate.ParallelRLEnv.step_send_async" class="header-link invisible with-hover:group-hover:visible pr-2" href="#simulate.ParallelRLEnv.step_send_async"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a>
		<a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/simulate/blob/main/src/simulate/rl/parallel_rl_env.py#L148" target="_blank"><span>&lt;</span>
				<span class="hidden md:block mx-0.5 hover:!underline">source</span>
				<span>&gt;</span></a></span>
	<p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span>
			<span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">action<span class="opacity-60">: typing.Union[typing.Dict, typing.List, numpy.ndarray]</span></span>
				</span>
			<span>)</span>
			</p>

	
	<div class="!mb-10 relative docstring-details ">
		<p class="flex items-center font-semibold !mt-2 !mb-2 text-gray-800">Parameters <span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700 ml-3"></span></p>
			<ul class="px-2"><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="simulate.ParallelRLEnv.step_send_async.action" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#simulate.ParallelRLEnv.step_send_async.action"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a>
							<span><!-- HTML_TAG_START --><strong>action</strong> (<code>Dict</code> or <code>List</code> or <code>np.ndarray</code>) &#x2014;
A dict or list of actions for each actuator.<!-- HTML_TAG_END -->
							</span></span>
					</li></ul>
		
		
		</div></div>
<p>Send a step to the environment asynchronously.</p></div></div>
<div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8">

<div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="simulate.MultiProcessRLEnv"><!-- HTML_TAG_START --><h3 class="!m-0"><span class="flex-1 break-all md:text-lg bg-gradient-to-r px-2.5 py-1.5 rounded-xl from-indigo-50/70 to-white dark:from-gray-900 dark:to-gray-950 dark:text-indigo-300 text-indigo-700"><svg class="mr-1.5 text-indigo-500 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" focusable="false" role="img" width=".8em" height=".8em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 24 24"><path class="uim-quaternary" d="M20.23 7.24L12 12L3.77 7.24a1.98 1.98 0 0 1 .7-.71L11 2.76c.62-.35 1.38-.35 2 0l6.53 3.77c.29.173.531.418.7.71z" opacity=".25" fill="currentColor"></path><path class="uim-tertiary" d="M12 12v9.5a2.09 2.09 0 0 1-.91-.21L4.5 17.48a2.003 2.003 0 0 1-1-1.73v-7.5a2.06 2.06 0 0 1 .27-1.01L12 12z" opacity=".5" fill="currentColor"></path><path class="uim-primary" d="M20.5 8.25v7.5a2.003 2.003 0 0 1-1 1.73l-6.62 3.82c-.275.13-.576.198-.88.2V12l8.23-4.76c.175.308.268.656.27 1.01z" fill="currentColor"></path></svg><span class="font-light">class</span> <span class="font-medium">simulate.</span><span class="font-semibold">MultiProcessRLEnv</span></span></h3><!-- HTML_TAG_END -->
		<a id="simulate.MultiProcessRLEnv" class="header-link invisible with-hover:group-hover:visible pr-2" href="#simulate.MultiProcessRLEnv"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a>
		<a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/simulate/blob/main/src/simulate/rl/multi_proc_rl_env.py#L41" target="_blank"><span>&lt;</span>
				<span class="hidden md:block mx-0.5 hover:!underline">source</span>
				<span>&gt;</span></a></span>
	<p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span>
			<span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">env_fn<span class="opacity-60">: typing.Callable</span></span>
				</span><span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">n_parallel<span class="opacity-60">: int</span></span>
				</span><span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">starting_port<span class="opacity-60">: int = 55001</span></span>
				</span>
			<span>)</span>
			</p>

	
	<div class="!mb-10 relative docstring-details ">
		<p class="flex items-center font-semibold !mt-2 !mb-2 text-gray-800">Parameters <span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700 ml-3"></span></p>
			<ul class="px-2"><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="simulate.MultiProcessRLEnv.env_fn" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#simulate.MultiProcessRLEnv.env_fn"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a>
							<span><!-- HTML_TAG_START --><strong>env_fn</strong> (<code>Callable</code>) &#x2014; a generator function that returns a RLEnv / ParallelRLEnv for generating instances
of the desired environment.<!-- HTML_TAG_END -->
							</span></span>
					</li><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="simulate.MultiProcessRLEnv.n_parallel" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#simulate.MultiProcessRLEnv.n_parallel"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a>
							<span><!-- HTML_TAG_START --><strong>n_parallel</strong> (<code>int</code>) &#x2014; the number of executable instances to create.<!-- HTML_TAG_END -->
							</span></span>
					</li><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="simulate.MultiProcessRLEnv.starting_port" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#simulate.MultiProcessRLEnv.starting_port"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a>
							<span><!-- HTML_TAG_START --><strong>starting_port</strong> (<code>int</code>) &#x2014; initial communication port for spawned executables.<!-- HTML_TAG_END -->
							</span></span>
					</li></ul>
		
		
		</div></div>
<p>Multi-process RL environment wrapper for Simulate scene. Spawns multiple backend executables to run in parallel,
in addition to the optionality of multiple maps.
Uses functionality from the VecEnv in stable baselines 3. For more information on VecEnv, see the source
<a href="https://stable-baselines3.readthedocs.io/en/master/guide/vec_envs.html" rel="nofollow">https://stable-baselines3.readthedocs.io/en/master/guide/vec_envs.html</a></p>
<div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8">

<div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="simulate.MultiProcessRLEnv.step"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5"  xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>step</span></h4><!-- HTML_TAG_END -->
		<a id="simulate.MultiProcessRLEnv.step" class="header-link invisible with-hover:group-hover:visible pr-2" href="#simulate.MultiProcessRLEnv.step"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a>
		<a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/simulate/blob/main/src/simulate/rl/multi_proc_rl_env.py#L72" target="_blank"><span>&lt;</span>
				<span class="hidden md:block mx-0.5 hover:!underline">source</span>
				<span>&gt;</span></a></span>
	<p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span>
			<span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">actions<span class="opacity-60">: typing.Union[list, &lt;built-in function array&gt;, NoneType] = None</span></span>
				</span>
			<span>)</span>
			<span class="font-bold">→</span>
				<span class="rounded hover:bg-gray-400 cursor-pointer"><!-- HTML_TAG_START --><span>all_observation (<code>Dict</code>)</span><!-- HTML_TAG_END --></span></p>

	
	<div class="!mb-10 relative docstring-details ">
		<p class="flex items-center font-semibold !mt-2 !mb-2 text-gray-800">Parameters <span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700 ml-3"></span></p>
			<ul class="px-2"><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="simulate.MultiProcessRLEnv.step.actions" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#simulate.MultiProcessRLEnv.step.actions"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a>
							<span><!-- HTML_TAG_START --><strong>actions</strong> (<code>Dict</code> or <code>List</code>) &#x2014; TODO verify, a dict with actuator tags as keys and as values a Tensor of shape (n_show, n_actors, n_actions)<!-- HTML_TAG_END -->
							</span></span>
					</li></ul>
		
		<div id="simulate.MultiProcessRLEnv.step.returns" class="flex items-center font-semibold space-x-3 text-base !mt-0 !mb-0 text-gray-800 rounded "><p class="text-base">Returns</p>
				<!-- HTML_TAG_START -->
<p>all_observation (<code>Dict</code>)</p>
<!-- HTML_TAG_END -->
				<span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700"></span></div>
			<p class="text-base"><!-- HTML_TAG_START -->
<p>TODO
all_reward (<code>float</code>): TODO
all_done (<code>bool</code>): TODO
all_info: TODO</p>
<!-- HTML_TAG_END --></p>
		</div></div>
<p>The step function for the environment, follows the API from OpenAI Gym.</p></div></div>


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