smarts.core.sensor_manager module

class smarts.core.sensor_manager.SensorManager

A sensor management system that associates actors with sensors.

add_sensor(sensor_id, sensor: Sensor) → str

Adds a sensor to the sensor manager.

add_sensor_for_actor(actor_id: str, name: str, sensor: Sensor) → str

Adds a sensor association for a specific actor.

add_sensor_state(actor_id: str, sensor_state: SensorState)

Add a sensor state associated with a given actor.

clean_up_sensors_for_actors(current_actor_ids: Set[str], renderer: RendererBase)

Cleans up sensors that are attached to non-existing actors.

observe(sim_frame: SimulationFrame, sim_local_constants: SimulationLocalConstants, agent_ids: Set[str], renderer_ref: RendererBase, physics_ref: bc.BulletClient) → Tuple[Dict[str, Observation], Dict[str, bool]]

Runs observations and updates the sensor states. :param sim_frame: The current state from the simulation. :type sim_frame: SimulationFrame :param sim_local_constants: The values that should stay the same for a simulation over a reset. :type sim_local_constants: SimulationLocalConstants :param agent_ids: The agent ids to process. :type agent_ids: Set[str] :param renderer_ref: The renderer (if any) that should be used. :type renderer_ref: RendererBase :param physics_ref: The physics client.

observe_batch(sim_frame: SimulationFrame, sim_local_constants: SimulationLocalConstants, interface: AgentInterface, sensor_states: Dict[str, SensorState], vehicles: Dict[str, Vehicle], renderer: RendererBase, bullet_client: bc.BulletClient) → Tuple[Dict[str, Observation], Dict[str, bool]]

Operates all sensors on a batch of vehicles for a single agent.

remove_actor_sensors_by_actor_id(actor_id: str, schedule_teardown: bool = True) → Iterable[Tuple[Sensor, int]]

Remove association of an actor to sensors. If the sensor is no longer associated an actor, the sensor is scheduled to be removed.

remove_sensor(sensor_id: str, schedule_teardown: bool = False) → Sensor | None

Remove a sensor by its id. Removes any associations it has with actors.

remove_sensor_state_by_actor_id(actor_id: str)

Add a sensor state associated with a given actor.

sensor_state_exists(actor_id: str) → bool

Determines if a actor has a sensor state associated with it.

sensor_state_for_actor_id(actor_id: str) → SensorState | None

Gets the sensor state for the given actor.

sensor_states_items() → Iterator[Tuple[str, SensorState]]

Gets all actor to sensor state associations.

sensors_for_actor_id(actor_id: str) → List[Sensor]

Gets all sensors associated with the given actor.

sensors_for_actor_ids(actor_ids: Set[str]) → Dict[str, Dict[str, Sensor]]

Gets all sensors for the given actors.

step(sim_frame: SimulationFrame, renderer: RendererBase)

Update sensor values based on the new simulation state.

teardown(renderer: RendererBase)

Tear down the current sensors and clean up any internal resources.