`fastsim.unisim`

24 个类

Backend-agnostic scene and entity API. SceneManager provides access to all spawned robots, objects, and sensors regardless of the underlying simulator backend. Abstract base classes define the lifecycle contract for every entity type.

class

UniSim

抽象类6 个方法

fastsim.unisim.uni_sim.UniSim继承自ABC

Abstract base class for all simulator backends. Subclass to integrate a new physics engine.

UniSim defines the minimal interface that every backend must implement: initialization, scene setup, stepping, and reset. The framework calls these methods; users typically do not interact with UniSim directly.

initializemethod

def initialize(self) → None

Initialize the backend engine (create app/context, configure physics).

返回值

None

setup_scenemethod

def setup_scene(self) → None

Build the scene from the loaded config (spawn all entities).

返回值

None

stepmethod

def step(self) → None

Advance the simulation by one physics timestep.

返回值

None

resetmethod

def reset(self) → None

Reset the simulation to its initial state.

返回值

None

closemethod

def close(self) → None

Shut down the backend and release all resources.

返回值

None

is_runningmethod

def is_running(self) → bool

Return True while the backend simulation context is active.

返回值

bool

class

Spawnable

抽象类6 个方法

fastsim.unisim.spawnable.Spawnable继承自ABC

Abstract base for all scene entities. Defines the spawn/remove/update lifecycle.

Every entity that can be placed in a scene (robots, objects, sensors, lights, bases) extends Spawnable. The framework calls spawn() once at scene setup, update_data() every tick, and remove() on cleanup.

spawnmethod

def spawn(self) → None

Instantiate the entity in the simulation scene.

返回值

None

removemethod

def remove(self) → None

Remove the entity from the simulation scene.

返回值

None

update_datamethod

def update_data(self) → None

Synchronize internal state from the backend each tick.

返回值

None

get_datamethod

def get_data(self) → dict

Return a dict snapshot of the entity's current state.

返回值

dict — Key-value state snapshot.

get_posemethod

def get_pose(self) → Pose

Return the world-frame pose of the entity.

返回值

Pose — Current world pose.

set_posemethod

def set_pose(self, pose: Pose) → None

Teleport the entity to a new world-frame pose.

参数

参数名	类型	默认值	说明
`pose`	Pose	—	Target world pose.

返回值

None

class

Articulation

抽象类9 个方法

fastsim.unisim.articulation.Articulation继承自Spawnable

Abstract articulated body with joint state read/write and drive targets.

Articulation extends Spawnable with a joint-level API used by both robots and articulated objects. Position, velocity, and effort targets map to the underlying physics drive.

get_joint_positionmethod

def get_joint_position(self, joint_name: str | None = None) → list

Read the current position of one or all joints.

参数

参数名	类型	默认值	说明
`joint_name`opt	str\|None	`None`	Joint name; if None, returns all joints.

返回值

list — List of joint position values (radians or metres).

get_joint_velocitymethod

def get_joint_velocity(self, joint_name: str | None = None) → list

Read the current velocity of one or all joints.

参数

参数名	类型	默认值	说明
`joint_name`opt	str\|None	`None`	Joint name; if None, returns all joints.

返回值

list — List of joint velocity values.

set_joint_position_targetmethod

def set_joint_position_target(self, positions: list, joint_names: list | None = None) → None

Set position drive targets for one or more joints.

参数

参数名	类型	默认值	说明
`positions`	list	—	Target positions (radians or metres).
`joint_names`opt	list\|None	`None`	Joint names; if None, all joints.

返回值

None

set_joint_velocity_targetmethod

def set_joint_velocity_target(self, velocities: list, joint_names: list | None = None) → None

Set velocity drive targets for one or more joints.

参数

参数名	类型	默认值	说明
`velocities`	list	—	Target velocities.
`joint_names`opt	list\|None	`None`	Joint names; if None, all joints.

返回值

None

set_joint_effort_targetmethod

def set_joint_effort_target(self, efforts: list, joint_names: list | None = None) → None

Set effort (torque/force) targets for one or more joints.

参数

参数名	类型	默认值	说明
`efforts`	list	—	Target effort values.
`joint_names`opt	list\|None	`None`	Joint names; if None, all joints.

返回值

None

write_data_to_simmethod

def write_data_to_sim(self) → None

Flush buffered drive commands to the physics backend.

返回值

None

get_joint_namesmethod

def get_joint_names(self) → list

Return the ordered list of joint names for this articulation.

返回值

list — List of joint name strings.

get_body_namesmethod

def get_body_names(self) → list

Return the ordered list of rigid body (link) names.

返回值

list — List of body/link name strings.

is_joint_stoppedmethod

def is_joint_stopped(self) → bool

Return True when all joints have come to rest (velocity below threshold).

返回值

bool

继承自Spawnable6

spawnmethod

def spawn(self) → None

Instantiate the entity in the simulation scene.

removemethod

def remove(self) → None

Remove the entity from the simulation scene.

update_datamethod

def update_data(self) → None

Synchronize internal state from the backend each tick.

get_datamethod

def get_data(self) → dict

Return a dict snapshot of the entity's current state.

get_posemethod

def get_pose(self) → Pose

Return the world-frame pose of the entity.

set_posemethod

def set_pose(self, pose: Pose) → None

Teleport the entity to a new world-frame pose.

class

Robot

抽象类6 个方法

fastsim.unisim.robot.Robot继承自Articulation

Abstract robot with end-effector, IK, and motion planning support.

Robot extends Articulation with EE-level operations and planner integration. Concrete robot classes (GeneralRobot, SingleGripperArmRobot, …) inherit from Robot.

get_plannermethod

def get_planner(self) → Planner

Return the motion planner instance attached to this robot.

返回值

Planner — The robot's planner, or None if none is configured.

get_ee_posemethod

def get_ee_pose(self) → Pose

Return the current world-frame pose of the end-effector.

返回值

Pose — Current EE pose.

get_ee_link_namemethod

def get_ee_link_name(self) → str

Return the name of the link designated as the end-effector.

返回值

str — EE link name.

solve_ikmethod

def solve_ik(self, target_pose: Pose, enable_retract: bool = False) → dict

Solve IK for a target EE pose using the robot's planner.

参数

参数名	类型	默认值	说明
`target_pose`	Pose	—	Target EE pose in world frame.
`enable_retract`opt	bool	`False`	Use retract joint state as seed.

返回值

dict — Joint position solution dict.

set_ee_pose_targetmethod

def set_ee_pose_target(self, target_pose: Pose, sync: bool = True) → None

Command the robot to move its EE to a target pose.

参数

参数名	类型	默认值	说明
`target_pose`	Pose	—	Desired EE pose.
`sync`opt	bool	`True`	Block until the robot reaches the target.

返回值

None

get_ee_jacobianmethod

def get_ee_jacobian(self) → np.ndarray

Compute the geometric Jacobian at the end-effector for the current configuration.

返回值

np.ndarray — 6×n Jacobian matrix (linear + angular rows).

继承自Articulation9

get_joint_positionmethod

def get_joint_position(self, joint_name: str | None = None) → list

Read the current position of one or all joints.

get_joint_velocitymethod

def get_joint_velocity(self, joint_name: str | None = None) → list

Read the current velocity of one or all joints.

set_joint_position_targetmethod

def set_joint_position_target(self, positions: list, joint_names: list | None = None) → None

Set position drive targets for one or more joints.

set_joint_velocity_targetmethod

def set_joint_velocity_target(self, velocities: list, joint_names: list | None = None) → None

Set velocity drive targets for one or more joints.

set_joint_effort_targetmethod

def set_joint_effort_target(self, efforts: list, joint_names: list | None = None) → None

Set effort (torque/force) targets for one or more joints.

write_data_to_simmethod

def write_data_to_sim(self) → None

Flush buffered drive commands to the physics backend.

get_joint_namesmethod

def get_joint_names(self) → list

Return the ordered list of joint names for this articulation.

get_body_namesmethod

def get_body_names(self) → list

Return the ordered list of rigid body (link) names.

is_joint_stoppedmethod

def is_joint_stopped(self) → bool

Return True when all joints have come to rest (velocity below threshold).

class

GeneralRobot

0 个方法

fastsim.unisim.robot.GeneralRobot继承自Robot

General-purpose robot with no gripper or arm specialization. Inherits the full Robot API.

继承自Robot6

get_plannermethod

def get_planner(self) → Planner

Return the motion planner instance attached to this robot.

get_ee_posemethod

def get_ee_pose(self) → Pose

Return the current world-frame pose of the end-effector.

get_ee_link_namemethod

def get_ee_link_name(self) → str

Return the name of the link designated as the end-effector.

solve_ikmethod

def solve_ik(self, target_pose: Pose, enable_retract: bool = False) → dict

Solve IK for a target EE pose using the robot's planner.

set_ee_pose_targetmethod

def set_ee_pose_target(self, target_pose: Pose, sync: bool = True) → None

Command the robot to move its EE to a target pose.

get_ee_jacobianmethod

def get_ee_jacobian(self) → np.ndarray

Compute the geometric Jacobian at the end-effector for the current configuration.

class

SingleGripperArmRobot

6 个方法

fastsim.unisim.robot.SingleGripperArmRobot继承自Robot

Arm robot with a single parallel-jaw or suction gripper.

Adds gripper open/close commands and convenience arm-specific helpers on top of the base Robot API.

open_grippermethod

def open_gripper(self, sync: bool = True) → None

Send the open command to the gripper.

参数

参数名	类型	默认值	说明
`sync`opt	bool	`True`	Block until gripper is fully open.

返回值

None

close_grippermethod

def close_gripper(self, sync: bool = True) → None

Send the close command to the gripper.

参数

参数名	类型	默认值	说明
`sync`opt	bool	`True`	Block until gripper is fully closed.

返回值

None

set_arm_target_positionmethod

def set_arm_target_position(self, positions: list, joint_names: list | None = None) → None

Set joint position targets for the arm joints only (excludes gripper).

参数

参数名	类型	默认值	说明
`positions`	list	—	Target joint positions for arm joints.
`joint_names`opt	list\|None	`None`	Arm joint names; if None, uses default arm joint order.

返回值

None

is_arm_stoppedmethod

def is_arm_stopped(self) → bool

Return True when all arm joints have come to rest.

返回值

bool

is_gripper_openedmethod

def is_gripper_opened(self) → bool

Return True when the gripper is fully open.

返回值

bool

is_gripper_closedmethod

def is_gripper_closed(self) → bool

Return True when the gripper is fully closed (or has grasped an object).

返回值

bool

继承自Robot6

get_plannermethod

def get_planner(self) → Planner

Return the motion planner instance attached to this robot.

get_ee_posemethod

def get_ee_pose(self) → Pose

Return the current world-frame pose of the end-effector.

get_ee_link_namemethod

def get_ee_link_name(self) → str

Return the name of the link designated as the end-effector.

solve_ikmethod

def solve_ik(self, target_pose: Pose, enable_retract: bool = False) → dict

Solve IK for a target EE pose using the robot's planner.

set_ee_pose_targetmethod

def set_ee_pose_target(self, target_pose: Pose, sync: bool = True) → None

Command the robot to move its EE to a target pose.

get_ee_jacobianmethod

def get_ee_jacobian(self) → np.ndarray

Compute the geometric Jacobian at the end-effector for the current configuration.

class

Object

抽象类2 个方法

fastsim.unisim.object.Object继承自Spawnable

Abstract scene object with position and scale. Parent of RigidObject, ArticulatedObject, and SoftObject.

get_scalemethod

def get_scale(self) → list

Return the current scale of the object.

返回值

list — [sx, sy, sz] scale factors.

set_scalemethod

def set_scale(self, scale: list) → None

Set the uniform or per-axis scale of the object.

参数

参数名	类型	默认值	说明
`scale`	list	—	[sx, sy, sz] scale factors.

返回值

None

继承自Spawnable6

spawnmethod

def spawn(self) → None

Instantiate the entity in the simulation scene.

removemethod

def remove(self) → None

Remove the entity from the simulation scene.

update_datamethod

def update_data(self) → None

Synchronize internal state from the backend each tick.

get_datamethod

def get_data(self) → dict

Return a dict snapshot of the entity's current state.

get_posemethod

def get_pose(self) → Pose

Return the world-frame pose of the entity.

set_posemethod

def set_pose(self, pose: Pose) → None

Teleport the entity to a new world-frame pose.

class

RigidObject

2 个方法

fastsim.unisim.object.RigidObject继承自Object

Physics-enabled rigid body. Responds to gravity, contacts, and impulses.

set_linear_velocitymethod

def set_linear_velocity(self, velocity: list) → None

Set the linear velocity of the rigid body.

参数

参数名	类型	默认值	说明
`velocity`	list	—	[vx, vy, vz] in m/s.

返回值

None

set_angular_velocitymethod

def set_angular_velocity(self, velocity: list) → None

Set the angular velocity of the rigid body.

参数

参数名	类型	默认值	说明
`velocity`	list	—	[wx, wy, wz] in rad/s.

返回值

None

继承自Object2

get_scalemethod

def get_scale(self) → list

Return the current scale of the object.

set_scalemethod

def set_scale(self, scale: list) → None

Set the uniform or per-axis scale of the object.

class

ArticulatedObject

0 个方法

fastsim.unisim.object.ArticulatedObject继承自Articulation,Object

An articulated scene object (e.g. a drawer, door) that is not a robot.

Inherits joint control from Articulation and object positioning from Object. Useful for interactive props with multiple moving parts.

继承自Articulation9

get_joint_positionmethod

def get_joint_position(self, joint_name: str | None = None) → list

Read the current position of one or all joints.

get_joint_velocitymethod

def get_joint_velocity(self, joint_name: str | None = None) → list

Read the current velocity of one or all joints.

set_joint_position_targetmethod

def set_joint_position_target(self, positions: list, joint_names: list | None = None) → None

Set position drive targets for one or more joints.

set_joint_velocity_targetmethod

def set_joint_velocity_target(self, velocities: list, joint_names: list | None = None) → None

Set velocity drive targets for one or more joints.

set_joint_effort_targetmethod

def set_joint_effort_target(self, efforts: list, joint_names: list | None = None) → None

Set effort (torque/force) targets for one or more joints.

write_data_to_simmethod

def write_data_to_sim(self) → None

Flush buffered drive commands to the physics backend.

get_joint_namesmethod

def get_joint_names(self) → list

Return the ordered list of joint names for this articulation.

get_body_namesmethod

def get_body_names(self) → list

Return the ordered list of rigid body (link) names.

is_joint_stoppedmethod

def is_joint_stopped(self) → bool

Return True when all joints have come to rest (velocity below threshold).

继承自Object2

get_scalemethod

def get_scale(self) → list

Return the current scale of the object.

set_scalemethod

def set_scale(self, scale: list) → None

Set the uniform or per-axis scale of the object.

class

SoftObject

抽象类10 个方法

fastsim.unisim.object.SoftObject继承自Object

Abstract deformable / soft-body object with particle-level state access.

Provides APIs for querying and controlling particle positions, velocities, and deformation gradients. Concrete implementations (e.g. IsaacLabSoftObject) map these to the simulator's soft-body solver. Supports cloth, volumetric, and inflatable body types.

get_particle_positionsmethod

def get_particle_positions(self) → np.ndarray

Return all particle positions as an (N, 3) array in world space.

返回值

np.ndarray — Particle positions with shape (N, 3)

get_particle_velocitiesmethod

def get_particle_velocities(self) → np.ndarray

Return all particle velocities as an (N, 3) array in world space.

返回值

np.ndarray — Particle velocities with shape (N, 3)

set_particle_positionsmethod

def set_particle_positions(self, positions: np.ndarray) → None

Overwrite particle positions with an (N, 3) array in world space.

参数

参数名	类型	默认值	说明
`positions`	np.ndarray	—	New particle positions, shape (N, 3)

返回值

None

set_particle_velocitiesmethod

def set_particle_velocities(self, velocities: np.ndarray) → None

Overwrite particle velocities with an (N, 3) array in world space.

参数

参数名	类型	默认值	说明
`velocities`	np.ndarray	—	New particle velocities, shape (N, 3)

返回值

None

get_particle_countmethod

def get_particle_count(self) → int

Return the total number of simulated particles.

返回值

int — Number of particles

get_deformation_gradientmethod

def get_deformation_gradient(self) → np.ndarray

Return per-element deformation gradients as an (M, 3, 3) array.

M is the number of finite-element cells (tetrahedra, hexahedra, or triangles for cloth). Returns an empty array when the simulator does not expose element-level data.

返回值

np.ndarray — Deformation gradients with shape (M, 3, 3)

set_root_link_posemethod

def set_root_link_pose(self, position: List[float], quaternion: List[float]) → None

Teleport the entire soft body rigidly without introducing deformation.

参数

参数名	类型	默认值	说明
`position`	List[float]	—	Target position [x, y, z]
`quaternion`	List[float]	—	Target orientation [w, x, y, z]

返回值

None

updatemethod

def update(self, dt: float) → None

Advance internal bookkeeping by one simulation step.

参数

参数名	类型	默认值	说明
`dt`	float	—	Step duration in seconds

返回值

None

write_data_to_simmethod

def write_data_to_sim(self) → None

Flush all pending state writes (positions, velocities) to the simulator.

返回值

None

write_to_sim_if_dirtymethod

def write_to_sim_if_dirty(self) → None

Flush state to the simulator only when the internal dirty flag is set.

返回值

None

继承自Object2

get_scalemethod

def get_scale(self) → list

Return the current scale of the object.

set_scalemethod

def set_scale(self, scale: list) → None

Set the uniform or per-axis scale of the object.

class

Sensor

抽象类1 个方法

fastsim.unisim.sensor.Sensor继承自Spawnable

Abstract sensor entity. All sensors extend this class.

get_observationmethod

def get_observation(self) → Any

Return the latest observation produced by this sensor.

返回值

Any — Sensor-specific observation data.

继承自Spawnable6

spawnmethod

def spawn(self) → None

Instantiate the entity in the simulation scene.

removemethod

def remove(self) → None

Remove the entity from the simulation scene.

update_datamethod

def update_data(self) → None

Synchronize internal state from the backend each tick.

get_datamethod

def get_data(self) → dict

Return a dict snapshot of the entity's current state.

get_posemethod

def get_pose(self) → Pose

Return the world-frame pose of the entity.

set_posemethod

def set_pose(self, pose: Pose) → None

Teleport the entity to a new world-frame pose.

class

Camera

3 个方法

fastsim.unisim.sensor.Camera继承自Sensor

RGB/depth camera sensor with configurable intrinsics.

get_rgbmethod

def get_rgb(self) → np.ndarray

Return the latest RGB image as a uint8 array (H×W×3).

返回值

np.ndarray — RGB image array, shape [H, W, 3], dtype uint8.

get_depthmethod

def get_depth(self) → np.ndarray

Return the latest depth image in metres (H×W).

返回值

np.ndarray — Depth array, shape [H, W], dtype float32.

get_intrinsicsmethod

def get_intrinsics(self) → np.ndarray

Return the camera intrinsic matrix K (3×3).

返回值

np.ndarray — 3×3 intrinsic matrix.

继承自Sensor1

get_observationmethod

def get_observation(self) → Any

Return the latest observation produced by this sensor.

class

Base

抽象类0 个方法

fastsim.unisim.base.Base继承自Spawnable

Abstract scene base / environment entity (ground, stage, arena).

继承自Spawnable6

spawnmethod

def spawn(self) → None

Instantiate the entity in the simulation scene.

removemethod

def remove(self) → None

Remove the entity from the simulation scene.

update_datamethod

def update_data(self) → None

Synchronize internal state from the backend each tick.

get_datamethod

def get_data(self) → dict

Return a dict snapshot of the entity's current state.

get_posemethod

def get_pose(self) → Pose

Return the world-frame pose of the entity.

set_posemethod

def set_pose(self, pose: Pose) → None

Teleport the entity to a new world-frame pose.

class

EmptyBase

0 个方法

fastsim.unisim.base.EmptyBase继承自Base

Empty base with no geometry or physics — useful for tabletop scenes where the ground is provided externally.

该类通过继承使用，无独立方法文档。方法同Base

class

UsdBase

1 个方法

fastsim.unisim.base.UsdBase继承自Base

Loads a USD stage file as the scene environment.

get_usd_pathmethod

def get_usd_path(self) → str

Return the resolved filesystem path to the loaded USD stage.

返回值

str — Absolute USD file path.

class

GroundPlaneBase

0 个方法

fastsim.unisim.base.GroundPlaneBase继承自Base

Infinite ground plane with collision physics — the default base for most manipulation tasks.

该类通过继承使用，无独立方法文档。方法同Base

class

Light

抽象类1 个方法

fastsim.unisim.light.Light继承自Spawnable

Abstract light entity. All light types extend this class.

set_intensitymethod

def set_intensity(self, intensity: float) → None

Set the light intensity.

参数

参数名	类型	默认值	说明
`intensity`	float	—	Intensity value in candelas or nits depending on light type.

返回值

None

继承自Spawnable6

spawnmethod

def spawn(self) → None

Instantiate the entity in the simulation scene.

removemethod

def remove(self) → None

Remove the entity from the simulation scene.

update_datamethod

def update_data(self) → None

Synchronize internal state from the backend each tick.

get_datamethod

def get_data(self) → dict

Return a dict snapshot of the entity's current state.

get_posemethod

def get_pose(self) → Pose

Return the world-frame pose of the entity.

set_posemethod

def set_pose(self, pose: Pose) → None

Teleport the entity to a new world-frame pose.

class

GeneralLight

1 个方法

fastsim.unisim.light.GeneralLight继承自Light

General-purpose light supporting sphere, rectangle, and distant light types.

set_colormethod

def set_color(self, color: list) → None

Set the light colour as an RGB tuple.

参数

参数名	类型	默认值	说明
`color`	list	—	[r, g, b] in [0, 1] range.

返回值

None

继承自Light1

set_intensitymethod

def set_intensity(self, intensity: float) → None

Set the light intensity.

class

RobotFactory

静态类1 个方法

fastsim.unisim.robot.RobotFactory

Static factory for creating Robot instances from name and config.

createstaticmethod

@staticmethod def create(name: str, config: dict) → Robot

Instantiate and return a Robot for the given name and config dict.

参数

参数名	类型	默认值	说明
`name`	str	—	Robot entity name.
`config`	dict	—	Robot configuration dict.

返回值

Robot — Constructed Robot instance.

class

ObjectFactory

静态类1 个方法

fastsim.unisim.object.ObjectFactory

Static factory for creating Object instances from name and config.

createstaticmethod

@staticmethod def create(name: str, config: dict) → Object

Instantiate and return an Object for the given name and config dict.

参数

参数名	类型	默认值	说明
`name`	str	—	Object entity name.
`config`	dict	—	Object configuration dict.

返回值

Object — Constructed Object instance.

class

SensorFactory

静态类1 个方法

fastsim.unisim.sensor.SensorFactory

Static factory for creating Sensor instances from name and config.

createstaticmethod

@staticmethod def create(name: str, config: dict) → Sensor

Instantiate and return a Sensor for the given name and config dict.

参数

参数名	类型	默认值	说明
`name`	str	—	Sensor entity name.
`config`	dict	—	Sensor configuration dict.

返回值

Sensor — Constructed Sensor instance.

class

BaseFactory

静态类1 个方法

fastsim.unisim.base.BaseFactory

Static factory for creating Base instances from name and config.

createstaticmethod

@staticmethod def create(name: str, config: dict) → Base

Instantiate and return a Base for the given name and config dict.

参数

参数名	类型	默认值	说明
`name`	str	—	Base entity name.
`config`	dict	—	Base configuration dict.

返回值

Base — Constructed Base instance.

class

LightFactory

静态类1 个方法

fastsim.unisim.light.LightFactory

Static factory for creating Light instances from name and config.

createstaticmethod

@staticmethod def create(name: str, config: dict) → Light

Instantiate and return a Light for the given name and config dict.

参数

参数名	类型	默认值	说明
`name`	str	—	Light entity name.
`config`	dict	—	Light configuration dict.

返回值

Light — Constructed Light instance.

class

SceneManager

静态类8 个方法

fastsim.unisim.scene_manager.SceneManager

Static registry and factory for all scene entities (robots, objects, sensors, spawnables).

SceneManager is the single source of truth for every entity active in the simulation. Query entities by name, bulk-retrieve all entities of a kind, or access low-level Spawnable handles for advanced use.

get_robotstaticmethod

@staticmethod def get_robot(name: str) → Robot

Retrieve a Robot entity by name.

参数

参数名	类型	默认值	说明
`name`	str	—	The name of the robot as defined in the scene config.

返回值

Robot — The matching Robot instance.

get_objectstaticmethod

@staticmethod def get_object(name: str) → Object

Retrieve an Object entity by name.

参数

参数名	类型	默认值	说明
`name`	str	—	The name of the object as defined in the scene config.

返回值

Object — The matching Object instance.

get_sensorstaticmethod

@staticmethod def get_sensor(name: str) → Sensor

Retrieve a Sensor entity by name.

参数

参数名	类型	默认值	说明
`name`	str	—	The name of the sensor as defined in the scene config.

返回值

Sensor — The matching Sensor instance.

get_all_robotsstaticmethod

@staticmethod def get_all_robots() → dict

Return all registered robots as a name→Robot mapping.

返回值

dict — Dict mapping robot names to Robot instances.

get_all_objectsstaticmethod

@staticmethod def get_all_objects() → dict

Return all registered objects as a name→Object mapping.

返回值

dict — Dict mapping object names to Object instances.

get_all_sensorsstaticmethod

@staticmethod def get_all_sensors() → dict

Return all registered sensors as a name→Sensor mapping.

返回值

dict — Dict mapping sensor names to Sensor instances.

get_spawnablestaticmethod

@staticmethod def get_spawnable(name: str) → Spawnable

Retrieve the low-level Spawnable handle for any named entity.

参数

参数名	类型	默认值	说明
`name`	str	—	Entity name.

返回值

Spawnable — The underlying Spawnable object.

setup_scene_from_configstaticmethod

@staticmethod def setup_scene_from_config(scene_cfg: dict) → None

Parse the scene config section and spawn all configured entities.

参数

参数名	类型	默认值	说明
`scene_cfg`	dict	—	The parsed scene configuration dict (usually from ConfigManager.scene_config).

返回值

None