Core Runtime API#

Scope#

This page documents core runtime modules:

Key classes#

SimulationRuntime#

Source: runtime.py

Responsibilities:

  • Build and hold simulation components

  • Reset/step orchestration

  • Task feedback and result collection

  • Optional map service injection and floor metadata propagation

Main methods:

  • build()

  • reset()

  • step(actions=None)

  • get_result()

GenesisSimulationManager#

Source: simulation_manager.py

Responsibilities:

  • Genesis scene creation

  • Scene entities and sensors loading

  • Simulation stepping and time

Registry and lifecycle#

Data contracts#

Source: types.py

Primary contracts:

  • Observation (batch-first)

  • Action (cmd_vel shape (B,3))

  • TaskResult

  • RobotState, SensorData

Validation helper:

  • validate_batch_shape(...)

Map service#

Sources:

Capabilities:

  • Occupancy maps by floor

  • World/grid coordinate conversion

  • Connector graph access

  • Runtime floor query by XY