Class PhysicsBodySensor

ISensor implementation that generates observations for a group of Rigidbodies or ArticulationBodies.

Inheritance
object
PhysicsBodySensor
Implements
Inherited Members
Namespace: Unity.MLAgents.Sensors
Assembly: Unity.ML-Agents.dll
Syntax
[MovedFrom("Unity.MLAgents.Extensions.Sensors")]
public class PhysicsBodySensor : ISensor

Constructors

PhysicsBodySensor(RigidBodyPoseExtractor, PhysicsSensorSettings, string)

Construct a new PhysicsBodySensor

Declaration
public PhysicsBodySensor(RigidBodyPoseExtractor poseExtractor, PhysicsSensorSettings settings, string sensorName)
Parameters
Type Name Description
RigidBodyPoseExtractor poseExtractor

The pose extractor used to obtain rigid body poses.
PhysicsSensorSettings settings

The settings used to configure the physics sensor.
string sensorName

The name assigned to the sensor.

PhysicsBodySensor(ArticulationBody, PhysicsSensorSettings, string)

Declaration
public PhysicsBodySensor(ArticulationBody rootBody, PhysicsSensorSettings settings, string sensorName = null)
Parameters
Type Name Description
ArticulationBody rootBody
PhysicsSensorSettings settings
string sensorName

Methods

GetBuiltInSensorType()

Return the corresponding BuiltInSensorType for the sensor.

Declaration
public BuiltInSensorType GetBuiltInSensorType()
Returns
Type Description
BuiltInSensorType

A BuiltInSensorType corresponding to the sensor.

GetCompressedObservation()

Return a compressed representation of the observation. For small observations, this should generally not be implemented. However, compressing large observations (such as visual results) can significantly improve model training time.

Declaration
public byte[] GetCompressedObservation()
Returns
Type Description
byte[]

Compressed observation.

GetCompressionSpec()

Return information on the compression type being used. If no compression is used, return Default().

Declaration
public CompressionSpec GetCompressionSpec()
Returns
Type Description
CompressionSpec

An object describing the compression used by the sensor.

GetName()

Get the name of the sensor. This is used to ensure deterministic sorting of the sensors on an Agent, so the naming must be consistent across all sensors and agents.

Declaration
public string GetName()
Returns
Type Description
string

The name of the sensor.

GetObservationSpec()

Returns a description of the observations that will be generated by the sensor. See ObservationSpec for more details, and helper methods to create one.

Declaration
public ObservationSpec GetObservationSpec()
Returns
Type Description
ObservationSpec

An object describing the observation.

Reset()

Resets the internal state of the sensor. This is called at the end of an Agent's episode. Most implementations can leave this empty.

Declaration
public void Reset()

Update()

Update any internal state of the sensor. This is called once per each agent step.

Declaration
public void Update()

Write(ObservationWriter)

Write the observation data directly to the ObservationWriter. Note that this (and GetCompressedObservation()) may be called multiple times per agent step, so should not mutate any internal state.

Declaration
public int Write(ObservationWriter writer)
Parameters
Type Name Description
ObservationWriter writer

Where the observations will be written to.
Returns
Type Description
int

The number of elements written.

Implements

Extension Methods