synthesizers.master_synthesizer module#

Master Synthesizer does virtual world orchestration and manages Synthesizer Workers.

class synthesizers.master_synthesizer.MasterSynthesizer(isaac_sim: IsaacSimApp, synthesizer_workers: omegaconf.DictConfig, scenario_name: str)#

Bases: object

Master Synthesizer does virtual world orchestration and manages Synthesizer Workers.

isaac_sim_app#

Isaac Sim App instance.

Type:

IsaacSimApp

synthesizers_workers#

List of Synthesizer Workers.

Type:

List[BaseSynthesizer]

synthesizers_worker_names#

List of Synthesizer Worker names.

Type:

list[str]

__init__(isaac_sim: IsaacSimApp, synthesizer_workers: omegaconf.DictConfig, scenario_name: str) → None#
Parameters:

  • isaac_sim (IsaacSimApp) – Isaac Sim App instance.

  • synthesizer_workers (DictConfig) – Synthesizer Workers configuration.

  • scenario_name (str) – Scenario owner name.

__iter__() → Iterator[BaseSynthesizer]#

Returns iterator over the Synthesizer Workers.

Returns:

Iterator over the Synthesizer Workers.

Return type:

Iterator[BaseSynthesizer]

_instantiate_synthesizer_workers(synthesizer_workers: omegaconf.DictConfig, scenario_name: str) → None#

Instantiates all enabled Synthesizer Workers. Objects can’t be instantiated directly using Hydra’s initialize, because it has to be get rid of each Synthesizer Worker config’s enabled attribute which is not meant to be used during classes initialization. It is used only to state whether it’s meant to be used or not.

Parameters:

  • synthesizer_workers (DictConfig) – Synthesizer Workers dict.

  • scenario_name (str) – Defines the name of owning Scenario.

class synthesizers.master_synthesizer.NullMasterSynthesizer#

Bases: object

Represents a non-instantiated Master Synthesizer in Scenario. Follows Null Object design pattern.

synthesizers_worker_names#

Empty list of Synthesizer Worker names.

Type:

list[str]

__init__() → None#
__iter__() → Iterator[BaseSynthesizer]#

Duck-type interface of null object for Scenario.

Returns:

Returns empty iterator.

Return type:

iter(Any)