smarts.ray.sensors.ray_sensor_resolver module

class smarts.ray.sensors.ray_sensor_resolver.RaySensorResolver(process_count_override: int | None = None)[source]

A version of the sensor resolver that uses “ray” in its underlying implementation.

Parameters:

process_count_override (Optional[int]) – An override for how many workers should be used.

get_ray_worker_actors(count: int)[source]

Get the current “ray” worker actors.

Parameters:

count (int) – The number of workers to get.

Returns:

The “ray” remote worker handles.

Return type:

Any

observe(sim_frame: SimulationFrame, sim_local_constants: SimulationLocalConstants, agent_ids: Set[str], renderer: RendererBase, 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.