phyelds-vmas

VMAS integration for phyelds.

Installation

pip install phyelds-vmas

phyelds-vmas installs compatible phyelds and phyelds-simulator releases, and VMAS.

Usage

from phyelds.simulator import Simulator
from phyelds.simulator.runner import schedule_program_for_all
from phyelds.calculus import aggregate
from phyelds.vmas import VmasEnvironment, action, vmas_runner

@aggregate
def move_right():
    action.send([1, 0])

The extension requires phyelds >=8.0.0,<9.0.0.

Programs share the typed sensors observations, rewards, dones, infos and agent, and the actuator action, with the host. Existing string names such as sense("observations") and store("action", [1, 0]) remain supported. An action has the meaning assigned by the VMAS scenario (for example a force or a discrete choice).

Readings and positions select environment 0; agent exposes the VMAS agent with its full batched state. observations is a tensor, rewards a scalar tensor (initially zero), dones a Python bool (initially false), and infos a dictionary of tensors sliced to environment 0 (initially empty). The runner repeats actions across all VMAS environments.

Each program must send an action every round. If it has not run yet or sent no action, vmas_runner raises a ValueError naming the node before stepping VMAS.

Release

phyelds-vmas follows the same version as phyelds. The root semantic-release workflow calculates the release version, writes it to both package manifests, and publishes both distributions together.