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<h1 class="relative group"><a id="reinforcement-learning-rl-with-simulate" 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="#reinforcement-learning-rl-with-simulate"><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>Reinforcement Learning (RL) with Simulate
	</span></h1>

<p>Simulate is designed to provide easy and scalable integration with reinforcement learning algorithms.
The core abstraction is through the <a href="/docs/simulate/pr_281/en/integrations/rl#simulate.RLEnv">RLEnv</a> class that wraps a <code>Scene</code>.
The <a href="/docs/simulate/pr_281/en/integrations/rl#simulate.RLEnv">RLEnv</a> allows an <a href="/docs/simulate/pr_281/en/integrations/rl#simulate.Actuator">Actuator</a> to be manipulated by an external agent or policy.</p>
<p>It is core to the design of Simulate that we are <em>not creating</em> Agents, but rather providing an interface for applications of machine learning and embodied AI.
The core API for RL applications can be seen below, where Simulate constrains the information that flows from the Scene to the external agent through an Actuator abstraction.</p>
<p align="center"><br>
    <img src="https://user-images.githubusercontent.com/10695622/192663853-a7543091-8d45-4fba-b8dc-2b632d66a35f.png" width="500">
    <br></p>
<p>At release, we include a set of pre-designed <code>Actor</code>’s that can act or navigate a scene. An <code>Actor</code> inherits from an <code>Object3D</code> and has sensors, actuators, and action mappings.</p>
<h2 class="relative group"><a id="core-classes" 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="#core-classes"><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>Core Classes
	</span></h2>

<h3 class="relative group"><a id="simulate.Actuator" 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.Actuator"><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>Actuator
	</span></h3>

<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.Actuator"><!-- 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">Actuator</span></span></h3><!-- HTML_TAG_END -->
		<a id="simulate.Actuator" class="header-link invisible with-hover:group-hover:visible pr-2" href="#simulate.Actuator"><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/vr_281/src/simulate/assets/actuator.py#L41" target="_blank"><span>&lt;</span>
				<span class="hidden md:block mx-0.5 hover:!underline">source</span>
				<span>&gt;</span></a></span>
	<p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span>
			<span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">mapping<span class="opacity-60">: typing.List[simulate.assets.action_mapping.ActionMapping]</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">actuator_tag<span class="opacity-60">: typing.Optional[str] = None</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">n<span class="opacity-60">: typing.Optional[int] = 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">low<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">high<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">shape<span class="opacity-60">: typing.Optional[typing.List[int]] = 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">dtype<span class="opacity-60">: typing.Optional[str] = &#39;float32&#39;</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">seed<span class="opacity-60">: typing.Optional[int] = None</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.Actuator.(we" 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.Actuator.(we"><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>(we</strong> always have a scene-level gym dict space). &#x2014;<!-- 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.Actuator.n" 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.Actuator.n"><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>n</strong> (int or List[int]) &#x2014; 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 &#x2014; low bound of continuous action space dimensions, either a float or list of floats
high &#x2014; high bound of continuous action space dimensions, either a float or list of floats
shape &#x2014; shape of continuous action space, should match low/high
dtype &#x2014; sampling type for continuous action spaces only<!-- HTML_TAG_END -->
							</span></span>
					</li></ul>
		
		
		</div></div>
<p>An Asset Actuator can be used to move an asset in the scene.</p>
<p>The actuator is designed to be a part of an Actor that manipulates a scene.</p>
<p>We define:</p>
<ul><li>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)</li>
<li>a mapping to the physics engine behavior
self.mapping is a list of ActionMapping (to physics engine behaviors)</li></ul></div>
<h3 class="relative group"><a id="simulate.RLEnv" 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.RLEnv"><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>RLEnv
	</span></h3>

<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.RLEnv"><!-- 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">RLEnv</span></span></h3><!-- HTML_TAG_END -->
		<a id="simulate.RLEnv" class="header-link invisible with-hover:group-hover:visible pr-2" href="#simulate.RLEnv"><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/vr_281/src/simulate/rl/rl_env.py#L33" target="_blank"><span>&lt;</span>
				<span class="hidden md:block mx-0.5 hover:!underline">source</span>
				<span>&gt;</span></a></span>
	<p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span>
			<span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">scene_or_map_fn<span class="opacity-60">: typing.Union[typing.Callable, simulate.scene.Scene]</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">n_maps<span class="opacity-60">: int = 1</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">n_show<span class="opacity-60">: int = 1</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">time_step<span class="opacity-60">: float = 0.03333333333333333</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">frame_skip<span class="opacity-60">: int = 4</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">**engine_kwargs<span class="opacity-60"></span></span>
				</span>
			<span>)</span>
			</p>

	
	<div class="!mb-10 relative docstring-details ">
		
		
		
		</div></div>
<p>RL environment wrapper for Simulate scene. Uses functionality from the VecEnv in stable baselines 3
For more information on VecEnv, see the source
<a href="https://stable-baselines3.readthedocs.io/en/master/guide/vec_envs.html" rel="nofollow">https://stable-baselines3.readthedocs.io/en/master/guide/vec_envs.html</a></p>
<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.RLEnv.reset"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5"  xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>reset</span></h4><!-- HTML_TAG_END -->
		<a id="simulate.RLEnv.reset" class="header-link invisible with-hover:group-hover:visible pr-2" href="#simulate.RLEnv.reset"><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/vr_281/src/simulate/rl/rl_env.py#L181" target="_blank"><span>&lt;</span>
				<span class="hidden md:block mx-0.5 hover:!underline">source</span>
				<span>&gt;</span></a></span>
	<p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span>
			
			<span>)</span>
			<span class="font-bold">→</span>
				<span class="rounded hover:bg-gray-400 cursor-pointer"><!-- HTML_TAG_START --><span>obs (<code>Dict</code>)</span><!-- HTML_TAG_END --></span></p>

	
	<div class="!mb-10 relative docstring-details ">
		
		
		<div id="simulate.RLEnv.reset.returns" class="flex items-center font-semibold space-x-3 text-base !mt-0 !mb-0 text-gray-800 rounded "><p class="text-base">Returns</p>
				<!-- HTML_TAG_START -->
<p>obs (<code>Dict</code>)</p>
<!-- HTML_TAG_END -->
				<span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700"></span></div>
			<p class="text-base"><!-- HTML_TAG_START -->
<p>the observation of the environment after reset.</p>
<!-- HTML_TAG_END --></p>
		</div></div>
<p>Resets the actors and the scene of the environment.</p></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.RLEnv.sample_action"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5"  xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>sample_action</span></h4><!-- HTML_TAG_END -->
		<a id="simulate.RLEnv.sample_action" class="header-link invisible with-hover:group-hover:visible pr-2" href="#simulate.RLEnv.sample_action"><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/vr_281/src/simulate/rl/rl_env.py#L216" target="_blank"><span>&lt;</span>
				<span class="hidden md:block mx-0.5 hover:!underline">source</span>
				<span>&gt;</span></a></span>
	<p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span>
			
			<span>)</span>
			<span class="font-bold">→</span>
				<span class="rounded hover:bg-gray-400 cursor-pointer"><!-- HTML_TAG_START --><span>action</span><!-- HTML_TAG_END --></span></p>

	
	<div class="!mb-10 relative docstring-details ">
		
		
		<div id="simulate.RLEnv.sample_action.returns" class="flex items-center font-semibold space-x-3 text-base !mt-0 !mb-0 text-gray-800 rounded "><p class="text-base">Returns</p>
				<!-- HTML_TAG_START -->
<p>action</p>
<!-- HTML_TAG_END -->
				<span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700"></span></div>
			<p class="text-base"><!-- HTML_TAG_START -->
<p>TODO</p>
<!-- HTML_TAG_END --></p>
		</div></div>
<p>Samples an action from the actors in the environment. This function loads the configuration of maps and actors to return the correct shape across multiple configurations.</p></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.RLEnv.step"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5"  xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>step</span></h4><!-- HTML_TAG_END -->
		<a id="simulate.RLEnv.step" class="header-link invisible with-hover:group-hover:visible pr-2" href="#simulate.RLEnv.step"><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/vr_281/src/simulate/rl/rl_env.py#L106" target="_blank"><span>&lt;</span>
				<span class="hidden md:block mx-0.5 hover:!underline">source</span>
				<span>&gt;</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">action<span class="opacity-60">: typing.Dict</span></span>
				</span>
			<span>)</span>
			<span class="font-bold">→</span>
				<span class="rounded hover:bg-gray-400 cursor-pointer"><!-- HTML_TAG_START --><span>observation (<code>Dict</code>)</span><!-- HTML_TAG_END --></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.RLEnv.step.action" 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.RLEnv.step.action"><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>action</strong> (<code>Dict</code> or <code>List</code>) &#x2014; TODO verify, a dict with actuator tags as keys and as values a Tensor of shape (n_show, n_actors, n_actions)<!-- HTML_TAG_END -->
							</span></span>
					</li></ul>
		
		<div id="simulate.RLEnv.step.returns" class="flex items-center font-semibold space-x-3 text-base !mt-0 !mb-0 text-gray-800 rounded "><p class="text-base">Returns</p>
				<!-- HTML_TAG_START -->
<p>observation (<code>Dict</code>)</p>
<!-- HTML_TAG_END -->
				<span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700"></span></div>
			<p class="text-base"><!-- HTML_TAG_START -->
<p>TODO
reward (<code>float</code>): TODO
done (<code>bool</code>): TODO
info: TODO</p>
<!-- HTML_TAG_END --></p>
		</div></div>
<p>The step function for the environment, follows the API from OpenAI Gym.</p></div></div>
<h3 class="relative group"><a id="simulate.ActionMapping" 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.ActionMapping"><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>ActionMapping
	</span></h3>

<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.ActionMapping"><!-- 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">ActionMapping</span></span></h3><!-- HTML_TAG_END -->
		<a id="simulate.ActionMapping" class="header-link invisible with-hover:group-hover:visible pr-2" href="#simulate.ActionMapping"><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/vr_281/src/simulate/assets/action_mapping.py#L34" target="_blank"><span>&lt;</span>
				<span class="hidden md:block mx-0.5 hover:!underline">source</span>
				<span>&gt;</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">action<span class="opacity-60">: str</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">amplitude<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">offset<span class="opacity-60">: float = 0.0</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">axis<span class="opacity-60">: typing.Optional[typing.List[float]] = None</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">position<span class="opacity-60">: typing.Optional[typing.List[float]] = None</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">use_local_coordinates<span class="opacity-60">: bool = True</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">is_impulse<span class="opacity-60">: bool = False</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">max_velocity_threshold<span class="opacity-60">: typing.Optional[float] = None</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.ActionMapping.action" 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.ActionMapping.action"><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>action</strong> (str) &#x2014; the physical action to be mapped to. A string selected in:<ul>
<li>&#x201C;add_force&#x201D;: apply a force to the object (at the center of mass)
The force is given in Newton if is_impulse is False and in Newton*second if is_impulse is True.
If is_impulse is False:<ul>
<li>the value can be considered as applied during the duration of the time step
(controlled by the frame rate)</li>
<li>changing the frame rate will change the force applied at each step but will lead to the same
result over a given total duration.
If is_impulse is True:</li>
<li>the force can be considered as a velocity change applied instantaneously at the step</li>
<li>changing the frame rate will not change the force applied at each step but will lead to the
different result over a given total duration.
(see <a href="https://docs.unity3d.com/ScriptReference/Rigidbody.AddForce.html" rel="nofollow">https://docs.unity3d.com/ScriptReference/Rigidbody.AddForce.html</a>)
(see <a href="https://docs.unity3d.com/ScriptReference/Rigidbody.AddRelativeForce.html" rel="nofollow">https://docs.unity3d.com/ScriptReference/Rigidbody.AddRelativeForce.html</a>)</li>
</ul></li>
<li>&#x201C;add_torque&#x201D;: add a torque to the object
(see <a href="https://docs.unity3d.com/ScriptReference/Rigidbody.AddTorque.html" rel="nofollow">https://docs.unity3d.com/ScriptReference/Rigidbody.AddTorque.html</a>)
(see <a href="https://docs.unity3d.com/ScriptReference/Rigidbody.AddRelativeTorque.html" rel="nofollow">https://docs.unity3d.com/ScriptReference/Rigidbody.AddRelativeTorque.html</a>)</li>
<li>&#x201C;add_force_at_position&#x201D;: add a force to the object at a position in the object&#x2019;s local coordinate system
(see <a href="https://docs.unity3d.com/ScriptReference/Rigidbody.AddForceAtPosition.html" rel="nofollow">https://docs.unity3d.com/ScriptReference/Rigidbody.AddForceAtPosition.html</a>)</li>
<li>&#x201C;change_position&#x201D;: teleport the object along an axis
(see <a href="https://docs.unity3d.com/ScriptReference/Rigidbody.MovePosition.html" rel="nofollow">https://docs.unity3d.com/ScriptReference/Rigidbody.MovePosition.html</a>)</li>
<li>&#x201C;change_rotation&#x201D;: teleport the object around an axis
(see <a href="https://docs.unity3d.com/ScriptReference/Rigidbody.MoveRotation.html" rel="nofollow">https://docs.unity3d.com/ScriptReference/Rigidbody.MoveRotation.html</a>)</li>
<li>&#x201C;do_nothing&#x201D;: step the environment with no external input.</li>
<li>&#x201C;set_position&#x201D;: teleport the object&#x2019;s position to &#x2018;position&#x2019;
(see <a href="https://docs.unity3d.com/ScriptReference/Rigidbody.MovePosition.html" rel="nofollow">https://docs.unity3d.com/ScriptReference/Rigidbody.MovePosition.html</a>)</li>
<li>&#x201C;set_rotation&#x201D;: teleport the object&#x2019;s rotation to &#x2018;rotation&#x2019;
(see <a href="https://docs.unity3d.com/ScriptReference/Rigidbody.MoveRotation.html" rel="nofollow">https://docs.unity3d.com/ScriptReference/Rigidbody.MoveRotation.html</a>)</li>
</ul><!-- 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.ActionMapping.axis" 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.ActionMapping.axis"><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>axis</strong> (List[float] Vector3) &#x2014; the axis of the action to be applied along or around<!-- 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.ActionMapping.amplitude" 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.ActionMapping.amplitude"><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>amplitude</strong> (float) &#x2014; the amplitude of the action to be applied (see below for details)<!-- 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.ActionMapping.offset" 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.ActionMapping.offset"><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>offset</strong> (float) &#x2014; the offset of the action to be applied (see below for details)<!-- 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.ActionMapping.position" 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.ActionMapping.position"><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>position</strong> (List[float] Vector3) &#x2014; the position of the action
in the case of the &#x201C;add_force_at_position&#x201D; action, this is the position of the force
in the case of the set_position, this is the position to set the object to<!-- 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.ActionMapping.use_local_coordinates" 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.ActionMapping.use_local_coordinates"><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>use_local_coordinates</strong> (bool, default True) &#x2014; whether to use the local/relative coordinates of the object<!-- 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.ActionMapping.is_impulse" 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.ActionMapping.is_impulse"><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>is_impulse</strong> (bool, default False) &#x2014; whether to apply the action as an impulse or a force<!-- 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.ActionMapping.max_velocity_threshold" 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.ActionMapping.max_velocity_threshold"><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>max_velocity_threshold</strong> (float) &#x2014; when we apply a force/torque, only apply if the velocity is below this value.<!-- HTML_TAG_END -->
							</span></span>
					</li></ul>
		
		
		</div></div>
<p>Map a RL agent action to an actor physical action</p>
<p>The conversion is as follows
(where X is the RL input action and Y the physics engine action e.g. force, torque, position):
Y = Y + (X - offset) * amplitude
For discrete action we assume X = 1.0 so that amplitude can be used to define the discrete value to apply.</p>
<p>“max_velocity_threshold” can be used to limit the max resulting velocity or angular velocity
after the action was applied :</p>
<ul><li>max final velocity for “add_force” actions (in m/s) –
only apply the action if the current velocity is below this value</li>
<li>max angular velocity for “add_torque” actions (in rad/s) -
only apply the action if the current angular velocity is below this value
Long discussion on Unity here: <a href="https://forum.unity.com/threads/terminal-velocity.34667/" rel="nofollow">https://forum.unity.com/threads/terminal-velocity.34667/</a></li></ul></div>
<h2 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>Included Actors
	</span></h2>

<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/vr_281/src/simulate/assets/actors.py#L27" target="_blank"><span>&lt;</span>
				<span class="hidden md:block mx-0.5 hover:!underline">source</span>
				<span>&gt;</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">: 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"> = 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"> = 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"> = 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.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.SimpleActor.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) &#x2014;<!-- 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.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>) &#x2014;
position &#x2014; length 3 list of the position of the agent, defaults to (0,0,0)
rotation &#x2014; length 3 list of the rotation of the agent, defaults to (0,0,0)
scaling &#x2014;
transformation_matrix &#x2014;
parent &#x2014;
children &#x2014;<!-- 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/vr_281/src/simulate/assets/actors.py#L120" target="_blank"><span>&lt;</span>
				<span class="hidden md:block mx-0.5 hover:!underline">source</span>
				<span>&gt;</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">: typing.Optional[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">: 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">: typing.Optional[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">: typing.Optional[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_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">transformation_matrix<span class="opacity-60"> = 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"> = 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"> = 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) &#x2014;<!-- 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>) &#x2014;
position &#x2014; length 3 list of the position of the agent, defaults to (0,0,0)
rotation &#x2014; length 3 list of the rotation of the agent, defaults to (0,0,0)
scaling &#x2014;
camera_height &#x2014; pixel height of first-person camera observations
camera_width &#x2014; pixel width of first-person camera observations
transformation_matrix &#x2014;
parent &#x2014;
children &#x2014;<!-- 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>
<h2 class="relative group"><a id="future-applications" 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="#future-applications"><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>Future Applications
	</span></h2>

In the future we intend to support more functionality such as multi-agent RL, accelerated physics, and more.


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