unienv_interface.env_base.funcenv¶
dataclass
¶
FuncEnvCommonRenderInfo(render_mode: Optional[str] = None, render_fps: Optional[int] = None)
Bases: ABC, Generic[StateType, RenderStateType, BArrayType, ContextType, ObsType, ActType, RenderFrame, BDeviceType, BDtypeType, BRNGType]
Functional environment interface with explicit immutable state passing.
Unlike :class:Env, a FuncEnv never stores simulation state on the
instance. Instead, every lifecycle method takes a state object and returns
the updated state explicitly, which makes the interface easier to compose
with JAX-style functional code.
instance-attribute
¶
observation_space: Space[Any, BDeviceType, BDtypeType, BRNGType]
class-attribute
instance-attribute
¶
context_space: Optional[Space[ContextType, BDeviceType, BDtypeType, BRNGType]] = None
abstractmethod
¶
initial(*, seed: Optional[int] = None, **kwargs) -> Tuple[StateType, ContextType, ObsType, Dict[str, Any]]
Create the first environment state, context, observation, and info.
abstractmethod
¶
reset(state: StateType, *, seed: Optional[int] = None, mask: Optional[BArrayType] = None, **kwargs) -> Tuple[StateType, ContextType, ObsType, Dict[str, Any]]
Resets the environment to its initial state and returns the initial context and observation. If mask is provided, it will only return the masked context and observation, so the batch dimension in the output will not be same as the batch dimension in the context and observation spaces. Note that state input and output should be with full batch dimensions
abstractmethod
¶
step(state: StateType, action: ActType) -> Tuple[StateType, ObsType, Union[SupportsFloat, BArrayType], Union[bool, BArrayType], Union[bool, BArrayType], Dict[str, Any]]
Advance state by one control step using action.
render_init(state: StateType, *, seed: Optional[int] = None, render_mode: Optional[str] = None, **kwargs) -> Tuple[StateType, RenderStateType, FuncEnvCommonRenderInfo]
Create any auxiliary render state needed by render_image.
render_image(state: StateType, render_state: RenderStateType) -> Tuple[RenderFrame | Sequence[RenderFrame] | None, StateType, RenderStateType]
Produce a render frame and updated runtime state.
render_close(state: StateType, render_state: RenderStateType) -> StateType
Release render-specific resources and return the updated state.
update_observation_post_reset(old_obs: ObsType, newobs_masked: ObsType, mask: BArrayType) -> ObsType
Merge masked reset observations back into a full batched observation.
update_context_post_reset(old_context: ContextType, new_context: ContextType, mask: BArrayType) -> ContextType
Merge masked reset contexts back into a full batched context.
has_wrapper_attr(name: str) -> bool
Checks if the attribute name exists in the environment.
set_wrapper_attr(name: str, value: Any)
Sets the attribute name on the environment with value.
FuncEnvBasedEnv(func_env: FuncEnv[StateType, RenderStateType, BArrayType, ContextType, ObsType, ActType, RenderFrame, BDeviceType, BDtypeType, BRNGType], *, render_mode: Optional[str] = None, render_kwargs: Dict[str, Any] = {})
Bases: Env[BArrayType, ContextType, ObsType, ActType, RenderFrame, BDeviceType, BDtypeType, BRNGType], Generic[StateType, RenderStateType, BArrayType, ContextType, ObsType, ActType, RenderFrame, BDeviceType, BDtypeType, BRNGType]
Adapter that exposes a stateful Env view over a FuncEnv.
Wrap a functional environment and manage its runtime state internally.
property
¶
context_space: Optional[Space[ContextType, BDeviceType, BDtypeType, BRNGType]]
step(action: ActType) -> Tuple[ObsType, Union[SupportsFloat, BArrayType], Union[bool, BArrayType], Union[bool, BArrayType], Dict[str, Any]]
reset(*, mask: Optional[BArrayType] = None, seed: Optional[int] = None, **kwargs) -> Tuple[ContextType, ObsType, Dict[str, Any]]
sample_context() -> Optional[ContextType]
Sample one context value if context_space is defined.
update_observation_post_reset(old_obs: ObsType, newobs_masked: ObsType, mask: BArrayType) -> ObsType
Merge masked reset observations back into a full batched observation.
update_context_post_reset(old_context: ContextType, new_context: ContextType, mask: BArrayType) -> ContextType
Merge masked reset contexts back into a full batched context.