smarts.core.sensors.local_sensor_resolver module

class smarts.core.sensors.local_sensor_resolver.LocalSensorResolver[source]

This implementation of the sensor resolver completes observations serially.

observe(sim_frame: SimulationFrame, sim_local_constants: SimulationLocalConstants, agent_ids: Set[str], renderer: RendererBase | None, bullet_client: bc.BulletClient) → Tuple[Dict[str, Observation], Dict[str, bool], Dict[str, Dict[str, Sensor]]][source]

Generate observations

Parameters:

  • sim_frame (SimulationFrame) – The simulation frame.

  • sim_local_constants (SimulationLocalConstants) – Constraints defined by the local simulator.

  • agent_ids (Set[str]) – The agents to run.

  • renderer (RendererBase) – The renderer to use.

  • bullet_client (Any) – The bullet client. This parameter is likely to be removed.

step(sim_frame: SimulationFrame, sensor_states: Iterable[SensorState])[source]

Step the sensor state.