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FromSim2Real / gpudrive-main /src /mgr.hpp
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#pragma once
#ifdef madrona_3d_example_mgr_EXPORTS
#define MGR_EXPORT MADRONA_EXPORT
#else
#define MGR_EXPORT MADRONA_IMPORT
#endif
#include <memory>
#include <vector>
#include <string>
#include <madrona/py/utils.hpp>
#include <madrona/exec_mode.hpp>
#include <madrona/render/render_mgr.hpp>
#include "init.hpp"
#include "types.hpp"
namespace madrona_gpudrive {
// The Manager class encapsulates the linkage between the outside training
// code and the internal simulation state (src/sim.hpp / src/sim.cpp)
//
// Manager is responsible for initializing the simulator, loading physics
// and rendering assets off disk, and mapping ECS components to tensors
// for learning
class Manager {
public:
struct Config {
madrona::ExecMode execMode; // CPU or CUDA
int gpuID; // Which GPU for CUDA backend?
// TODO(sk): Use nanobind filesystem.h?
std::vector<std::string> scenes;
Parameters params;
// Rendering settings
bool enableBatchRenderer = false;
uint32_t batchRenderViewWidth = 64;
uint32_t batchRenderViewHeight = 64;
madrona::render::APIBackend *extRenderAPI = nullptr;
madrona::render::GPUDevice *extRenderDev = nullptr;
};
MGR_EXPORT Manager(const Config &cfg);
MGR_EXPORT ~Manager();
MGR_EXPORT void step();
MGR_EXPORT void reset(std::vector<int32_t> worldsToReset);
// These functions export Tensor objects that link the ECS
// simulation state to the python bindings / PyTorch tensors (src/bindings.cpp)
MGR_EXPORT madrona::py::Tensor actionTensor() const;
MGR_EXPORT madrona::py::Tensor rewardTensor() const;
MGR_EXPORT madrona::py::Tensor doneTensor() const;
MGR_EXPORT madrona::py::Tensor selfObservationTensor() const;
MGR_EXPORT madrona::py::Tensor mapObservationTensor() const;
MGR_EXPORT madrona::py::Tensor partnerObservationsTensor() const;
MGR_EXPORT madrona::py::Tensor agentMapObservationsTensor() const;
MGR_EXPORT madrona::py::Tensor lidarTensor() const;
MGR_EXPORT madrona::py::Tensor bevObservationTensor() const;
MGR_EXPORT madrona::py::Tensor stepsRemainingTensor() const;
MGR_EXPORT madrona::py::Tensor shapeTensor() const;
MGR_EXPORT madrona::py::Tensor controlledStateTensor() const;
MGR_EXPORT madrona::py::Tensor absoluteSelfObservationTensor() const;
MGR_EXPORT madrona::py::Tensor validStateTensor() const;
MGR_EXPORT madrona::py::Tensor infoTensor() const;
MGR_EXPORT madrona::py::Tensor responseTypeTensor() const;
MGR_EXPORT madrona::py::Tensor expertTrajectoryTensor() const;
MGR_EXPORT madrona::py::Tensor worldMeansTensor() const;
MGR_EXPORT madrona::py::Tensor metadataTensor() const;
MGR_EXPORT madrona::py::Tensor deletedAgentsTensor() const;
MGR_EXPORT madrona::py::Tensor mapNameTensor() const;
MGR_EXPORT madrona::py::Tensor scenarioIdTensor() const;
madrona::py::Tensor rgbTensor() const;
madrona::py::Tensor depthTensor() const;
// These functions are used by the viewer to control the simulation
// with keyboard inputs in place of DNN policy actions
MGR_EXPORT void triggerReset(int32_t world_idx);
MGR_EXPORT void setAction(int32_t world_idx, int32_t agent_idx,
float acceleration, float steering,
float headAngle);
MGR_EXPORT void setMaps(const std::vector<std::string> &maps);
MGR_EXPORT void deleteAgents(const std::unordered_map<int32_t, std::vector<int32_t>> &agentsToDelete);
// TODO: remove parameters
MGR_EXPORT std::vector<Shape>
getShapeTensorFromDeviceMemory();
madrona::render::RenderManager & getRenderManager();
private:
struct Impl;
struct CPUImpl;
struct CUDAImpl;
std::unique_ptr<Impl> impl_;
};
}