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| <meta charset="utf-8" /><meta http-equiv="content-security-policy" content=""><meta name="hf:doc:metadata" content="{"local":"simulate.SimpleActor","title":"Actors"}" data-svelte="svelte-1phssyn"> | |
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| <h1 class="relative group"><a id="simulate.SimpleActor" 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.SimpleActor"><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>Actors | |
| </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.SimpleActor"><!-- 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">SimpleActor</span></span></h3><!-- HTML_TAG_END --> | |
| <a id="simulate.SimpleActor" class="header-link invisible with-hover:group-hover:visible pr-2" href="#simulate.SimpleActor"><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/v0.0.1/src/simulate/assets/actors.py#L30" target="_blank"><span><</span> | |
| <span class="hidden md:block mx-0.5 hover:!underline">source</span> | |
| <span>></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">name<span class="opacity-60">: typing.Optional[str] = None</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">position<span class="opacity-60">: typing.Optional[typing.List[float]] = None</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">rotation<span class="opacity-60">: typing.Optional[typing.List[float]] = None</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">scaling<span class="opacity-60">: typing.Union[float, typing.List[float], NoneType] = None</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">transformation_matrix<span class="opacity-60">: typing.Optional[numpy.ndarray] = None</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">material<span class="opacity-60">: typing.Optional[simulate.assets.material.Material] = None</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">parent<span class="opacity-60">: typing.Optional[ForwardRef('Asset')] = None</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">children<span class="opacity-60">: typing.Union[ForwardRef('Asset'), typing.List[ForwardRef('Asset')], NoneType] = None</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">**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.SimpleActor.name" 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.SimpleActor.name"><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>name</strong> (<code>str</code>) — | |
| position — length 3 list of the position of the agent, defaults to (0,0,0) | |
| rotation — length 3 list of the rotation of the agent, defaults to (0,0,0) | |
| scaling — | |
| transformation_matrix — | |
| parent — | |
| children —<!-- HTML_TAG_END --> | |
| </span></span> | |
| </li></ul> | |
| </div></div> | |
| <p>Creates a bare-bones RL agent in the scene.</p> | |
| <p>A SimpleActor is a sphere asset with:</p> | |
| <ul><li>basic XYZ positional control (continuous),</li> | |
| <li>mass of 1 (default)</li> | |
| <li>no attached Camera</li></ul></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.EgocentricCameraActor"><!-- 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">EgocentricCameraActor</span></span></h3><!-- HTML_TAG_END --> | |
| <a id="simulate.EgocentricCameraActor" class="header-link invisible with-hover:group-hover:visible pr-2" href="#simulate.EgocentricCameraActor"><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/v0.0.1/src/simulate/assets/actors.py#L122" target="_blank"><span><</span> | |
| <span class="hidden md:block mx-0.5 hover:!underline">source</span> | |
| <span>></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">mass<span class="opacity-60">: float = 1.0</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">name<span class="opacity-60">: typing.Optional[str] = None</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">position<span class="opacity-60">: typing.Optional[typing.List[float]] = None</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">rotation<span class="opacity-60">: typing.Optional[typing.List[float]] = None</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">scaling<span class="opacity-60">: typing.Union[float, typing.List[float], NoneType] = None</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">camera_height<span class="opacity-60">: int = 40</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">camera_width<span class="opacity-60">: int = 40</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">camera_tag<span class="opacity-60">: typing.Optional[str] = 'CameraSensor'</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">transformation_matrix<span class="opacity-60">: typing.Optional[numpy.ndarray] = None</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">material<span class="opacity-60">: typing.Optional[simulate.assets.material.Material] = None</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">parent<span class="opacity-60">: typing.Optional[ForwardRef('Asset')] = None</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">children<span class="opacity-60">: typing.Union[ForwardRef('Asset'), typing.List[ForwardRef('Asset')], NoneType] = None</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">**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.EgocentricCameraActor.mass" 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.EgocentricCameraActor.mass"><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>mass</strong> (<code>float</code>, Optional) —<!-- 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.EgocentricCameraActor.name" 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.EgocentricCameraActor.name"><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>name</strong> (<code>str</code>) — | |
| position — length 3 list of the position of the agent, defaults to (0,0,0) | |
| rotation — length 3 list of the rotation of the agent, defaults to (0,0,0) | |
| scaling — | |
| camera_height — pixel height of first-person camera observations | |
| camera_width — pixel width of first-person camera observations | |
| transformation_matrix — | |
| parent — | |
| children —<!-- HTML_TAG_END --> | |
| </span></span> | |
| </li></ul> | |
| </div></div> | |
| <p>Create an Egocentric RL Actor in the Scene — essentially a basic first-person agent.</p> | |
| <p>An egocentric actor is a capsule asset with:</p> | |
| <ul><li>a Camera as a child asset for observation device</li> | |
| <li>a RigidBodyComponent component with a mass of 1.0</li> | |
| <li>a discrete actuator</li></ul></div> | |
| <p>Under construction 🚧.</p> | |
| <script type="module" data-hydrate="vwg7bt"> | |
| import { start } from "/docs/simulate/v0.0.1/en/_app/start-hf-doc-builder.js"; | |
| start({ | |
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| import("/docs/simulate/v0.0.1/en/_app/pages/api/actors.mdx-hf-doc-builder.js") | |
| ], | |
| params: {} | |
| } | |
| }); | |
| </script> | |
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