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Simulo

API Reference

Reference for the simulo SDK (v0.32.0).

Platform

Section titled “Platform”

Declare, submit, and observe work: the job container, runtime, a writable scratch folder, the shared error hierarchy, job outputs, and lifecycle callbacks.

Browse Platform →

Learning

Section titled “Learning”

The contracts your task code fulfils, what composes it, and what executes them.

Browse Learning →

Authoring

Section titled “Authoring”

The vocabulary a build(scene) uses to declare what exists: entities, placement, terrain, sensors, actuators, lights, markers, materials, and physics.

Browse Authoring →

Wire & identifiers

Section titled “Wire & identifiers”

Strongly-typed identifiers, friendly Job, Policy, and Output IDs, and the wire-stable enums/records shared by the client and the platform.

Browse Wire & identifiers →

A–Z

Section titled “A–Z”

Every documented name, one click away:

  • simulo.ActuatorGainsConfig — Per-actuator-group PD gains (stiffness/damping) — passed via Robot(actuator_gains={...}).
  • simulo.App — Job container — declare jobs with @app.job and submit with simulo run.
  • simulo.ArrowMarker — Directional arrow marker — for visualizing forces, velocities, or normals. What Visual.arrow(...) returns.
  • simulo.Asset — Read-only catalog handle (simulo/robot/cartpole:v1) with submit-time version pinning, plus lower-level usd()/urdf() model sources.
  • simulo.AssetEntity — An Entity loaded from a USD/URDF asset — what Entity.from_asset(...) returns.
  • simulo.AssetSource — A USD/URDF model source named by file path — no catalog identity, no version pin.
  • simulo.AxesMarker — XYZ coordinate-axes marker (red/green/blue) — for visualizing frames, end-effector poses, or targets. What Visual.axes(...) returns.
  • simulo.callbacks — The simulo.callbacks submodule — job lifecycle callbacks passed to @app.job(callbacks=[...]).
  • simulo.Camera — RGB-D camera sensor — configured at authoring time, read after the simulation steps.
  • simulo.CameraSpawnConfig — Camera optics — focal length, focus distance, aperture, and clipping range.
  • simulo.checkpoint_ref_is_job_hint — Format the correction for a Job ID used as a checkpoint reference.
  • simulo.CheckpointId — Identifies one training checkpoint.
  • simulo.CheckpointRefIsJobError — Raised when a checkpoint reference uses a Job ID instead of a Policy ID.
  • simulo.Collision — Collision on/off, independent of a body’s other physics properties.
  • simulo.Cone — A cone primitive.
  • simulo.ContactSensor — Contact force sensor: net contact forces and air time per body, commonly used to detect foot contact.
  • simulo.ContractViolationError — An object failed to satisfy a Simulo contract, such as a custom Task with a missing or mismatched member.
  • simulo.Cuboid — A box primitive, sized (width, depth, height).
  • simulo.Cylinder — A cylinder primitive.
  • simulo.DeformableMaterial — Material properties for a deformable body — Young’s modulus, Poisson’s ratio, damping.
  • simulo.DeformablePhysics — Deformable-body physics — wraps an optional DeformableMaterial.
  • simulo.DifferentialIKController — Differential inverse kinematics — moves an end-effector to a target pose by computing joint position commands.
  • simulo.Digest — Content-addressed digest of a package source.
  • simulo.DistantLight — Distant (directional) light — parallel rays from infinity, like sunlight. What Light.distant(...) returns.
  • simulo.DomeLight — Dome light for ambient illumination. What Light.dome(...) returns.
  • simulo.Entity — Base scene object — a name, a pose, and optional material/physics.
  • simulo.evaluate — Run a trained policy on numbered episodes, judge each with the eval file’s @app.success function, and return the evaluation report.
  • simulo.ForceTorqueSensor — 6-DOF force/torque sensor for a joint or link — commonly an end-effector or wrist.
  • simulo.FrameTransformer — Computes the relative pose from a source frame to one or more target frames — for tracking objects and links relative to each other.
  • simulo.FrameTransformerTarget — One target frame for a FrameTransformer — a prim path, optional name, and offset.
  • simulo.GripperCommand — Command a gripper ACCEPTS — OPEN, IDLE, or CLOSE.
  • simulo.GripperState — State a gripper REPORTS — OPEN, CLOSING, or CLOSED.
  • simulo.GroundPlane — An infinite flat ground plane — what Terrain.plane(...) returns.
  • simulo.ImportResolutionError — A deferred runtime.imports() symbol was used in local discovery mode without a resolved cloud import.
  • simulo.IMU — Inertial measurement unit — linear acceleration, angular velocity, and orientation.
  • simulo.JobFailedError — Raised when a submitted job terminates in a failed state.
  • simulo.JobId — Identifies one submitted job.
  • simulo.JobPublicId — A validated human-facing Job ID.
  • simulo.JobType — The type of a job: preview, train, eval, play, asset_validation or export.
  • simulo.LearningEnv — Gym-like vectorized environment — reset, step, close.
  • simulo.Light — Light factory — Light.distant(...) and Light.dome(...) build the two light types.
  • simulo.LightConfig — Base light configuration — a name, intensity, color, and pose.
  • simulo.Material — Base material — the color/opacity every concrete material carries.
  • simulo.ObservationComponent — One observation term — initialize, dim, compute.
  • simulo.ObservationSet — Concatenates observations from a list of ObservationComponents into one tensor.
  • simulo.OperationalSpaceController — Task-space impedance control with optional simultaneous force control — for_compliant_motion() / for_force_control() build the common cases.
  • simulo.OrganizationId — Identifies one organization.
  • simulo.Output — A validated file registration created while a job is running; eligible registrations become Outputs only once persisted.
  • simulo.OutputKind — Kind of a job-produced output. A checkpoint is not an ONNX bundle.
  • simulo.OutputPublicId — A validated human-facing Output ID.
  • simulo.PackageId — Identifies one uploaded job package.
  • simulo.ParallelGripperActuator — A two-finger gripper driven by finger-joint position targets — same command and state contract as SurfaceGripperActuator.
  • simulo.parse_checkpoint_ref — Parse a policy checkpoint reference such as policy_x:best.
  • simulo.parse_job_public_id — Validate and canonicalize a human-facing Job ID.
  • simulo.parse_output_public_id — Validate and canonicalize a human-facing Output ID.
  • simulo.parse_recording_public_id — Validate and canonicalize a human-facing Recording ID.
  • simulo.Physics — Physics factory — Physics.rigid(...) and Physics.deformable(...) build the two kinds.
  • simulo.Player — Trained-policy playback — episodes, steps, optional video.
  • simulo.PointMarker — Lightweight point marker — for visualizing many points at once. What Visual.point(...) returns.
  • simulo.policy_id_for_job — Derive the policy ID made by a public Job ID.
  • simulo.PolicyCheckpoint — A named policy checkpoint injected into a play job.
  • simulo.PolicyNetwork — Callable policy network loaded from a checkpoint.
  • simulo.PolicyNetworkProtocol — The structural contract for a callable policy network.
  • simulo.PolicyPublicId — A validated human-facing Policy ID.
  • simulo.Pose — 6-DOF pose — position (xyz) and orientation (quat_wxyz, w-first quaternion).
  • simulo.preview — Check a task’s robot the way training will run it before training starts; returns a preview report and makes no policy.
  • simulo.PrimitiveShape — Base class for the primitive shapes below — a name, pose, material, and physics.
  • simulo.ProjectId — Identifies one project.
  • simulo.Prop — A movable scene object whose pose you can read and write — wrap a primitive shape in one when a task needs to know where the object is, or to put it somewhere.
  • simulo.RayCaster — GPU ray-casting distance sensor — commonly a height scanner for locomotion.
  • simulo.RayPattern — Ray distribution configuration for RayCaster — pattern type, resolution, and size.
  • simulo.RecordConfig — Recording configuration passed to player.play(record=...) — an output path, plus a profile and per-stream include_* overrides.
  • simulo.RecordingPublicId — A validated human-facing Recording ID.
  • simulo.ResourceId — Identifies one registry-resolved resource mount.
  • simulo.ResourceNotFoundError — from_registry() / from_name()-style resolution could not find the named resource or volume.
  • simulo.ResourceUri — A registry ref string, e.g. "robot/so-arm-100:v3".
  • simulo.ResumeIncompatibleError — A discovered checkpoint is incompatible with the current job.
  • simulo.RewardComponent — One reward term — initialize, compute.
  • simulo.RewardSet — Sums weighted rewards from a list of RewardComponents into one tensor.
  • simulo.RigidPhysics — Rigid-body physics — mass, collision, kinematic, and contact-sensor activation.
  • simulo.RLPlayer — Runs a trained policy (skrl checkpoint or exported TorchScript/ONNX) without training — playback, video, and MCAP recording.
  • simulo.RLTrainer — Reinforcement learning trainer (skrl PPO/IPPO/MAPPO/AMP) — the concrete class a job constructs to fulfil the Trainer contract.
  • simulo.Robot — The robot authoring contract — configuration, joint/body queries, commands, state, reset.
  • simulo.RoughTerrain — Procedurally generated rough terrain for locomotion training — what Terrain.rough(...) returns.
  • simulo.Runtime — A Simulo-curated runtime — picked by name; imports() boundary; torch_jit kernels.
  • simulo.save_output — Register a general file for upload after a successful job; it becomes downloadable only once persisted.
  • simulo.Scene — The scene authoring contract — add robots, terrain, lights, and entities at logical paths.
  • simulo.SensorOffset — Position + orientation offset for mounting a sensor relative to its attachment point.
  • simulo.Simulation — The simulation clock and lifecycle — timestep, physics stepping, seeds, device placement, reset/close.
  • simulo.SimuloError — Root of the shared Simulo exception hierarchy — catch this to handle any Simulo-raised error generically.
  • simulo.Sphere — A sphere primitive.
  • simulo.SphereMarker — Sphere marker — for visualizing targets, waypoints, or collision points. What Visual.sphere(...) returns.
  • simulo.SubTerrainConfig — One sub-terrain type in a RoughTerrain’s grid — e.g. "pyramid_stairs", "random_rough".
  • simulo.SurfaceGripperActuator — A physics-constraint gripper added to the scene at a prim path and driven with set_command.
  • simulo.SurfaceMaterial — Surface material — Material plus roughness. The one concrete material type today.
  • simulo.SystemType — An abstract GPU system tier — one of a closed, published set.
  • simulo.TagId — Identifies one tag.
  • simulo.Task — The RL task contract you subclass — observations, rewards, dones, actions, resets.
  • simulo.TerminationCondition — One optionally named termination condition — name, initialize, check.
  • simulo.TerminationSet — Returns a named boolean-tensor dictionary for its TerminationConditions; an episode ends when any value is true.
  • simulo.Terrain — Terrain factory — Terrain.plane(...) and Terrain.rough(...) generate ground.
  • simulo.TerrainConfig — Base terrain configuration — a name and a pose. GroundPlane and RoughTerrain extend it.
  • simulo.Trainer — Training orchestration with train, save, and load.
  • simulo.Transform — A named coordinate frame — group entities under it, then place the group in the scene.
  • simulo.URDFAsset — A URDF model source — what simulo.AssetSource.urdf(path) returns.
  • simulo.USDAsset — A USD model source — what simulo.AssetSource.usd(path) returns.
  • simulo.USDWorld — A prebuilt USD world — what World.usd(...) returns.
  • simulo.Visual — Marker factory — Visual.axes(...), .sphere(...), .arrow(...), and .point(...) build the four marker types.
  • simulo.VisualMarkerBase — Base class every marker type extends — a name, and the set_pose/set_visibility contract.
  • simulo.Volume — Named, writable folder on the GPU machine, mounted into a running job.
  • simulo.World — World factory — World.usd(...) loads a prebuilt USD scene as-is.