class simulate.Actuator

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( mapping: typing.List[simulate.assets.action_mapping.ActionMapping] actuator_tag: typing.Optional[str] = None n: typing.Optional[int] = None low: typing.Union[float, typing.List[float], numpy.ndarray, NoneType] = None high: typing.Union[float, typing.List[float], numpy.ndarray, NoneType] = None shape: typing.Optional[typing.List[int]] = None dtype: str = 'float32' seed: typing.Optional[int] = None )

Parameters

(we always have a scene-level gym dict space). —
n (int or List[int]) — for discrete actions, the number of possible actions for multi-binary actions, the number of possible binary actions or a list of the number of possible actions for each dimension low — low bound of continuous action space dimensions, either a float or list of floats high — high bound of continuous action space dimensions, either a float or list of floats shape — shape of continuous action space, should match low/high dtype — sampling type for continuous action spaces only

An Asset Actuator can be used to move an asset in the scene.

The actuator is designed to be a part of an Actor that manipulates a scene.

We define:

the space were the actions operate (discrete, continuous), it’s similar to gym spaces in RL, self.action_space is a gym.space (define the space action happens in and allow to sample)
a mapping to the physics engine behavior self.mapping is a list of ActionMapping (to physics engine behaviors)

Actuators

class simulate.Actuator