unienv_interface.remote¶
Transport-independent remote UniEnv execution and latest-value observation.
RemoteClient(transport: MessageTransport, *, backend: ComputeBackend = NumpyComputeBackend, device: Optional[object] = None, timeout: Optional[float] = 30.0, max_message_size: int = DEFAULT_MAX_MESSAGE_SIZE)
A connection, descriptor cache, and shared control session.
Requests are serialized, including entire component operation contexts. A timeout closes the connection: late replies can never be confused with a later request. Mutations aren't retried and may have executed remotely.
release(resource_id: str, *, close_subscriptions: bool = False) -> None
Release shared world control, retaining subscriptions by default.
Set close_subscriptions=True to also close this client's domain streams.
operation(resource_id: str, kind: OperationKind = 'step') -> Iterator[str]
Mark one client-coordinated reset/reload/step, without rollback.
Use a world or node ID. Every mutating component call must belong to an operation. The context publishes snapshots only after successful exit.
Subscription(client: RemoteClient, resource_id: str, subscription_id: str)
RemoteServer(*, max_message_size: int = DEFAULT_MAX_MESSAGE_SIZE, idle_timeout: Optional[float] = 60.0)
Host objects or lazy root factories. Register resources before connecting.
Registration doesn't call lifecycle methods. All discovery, lifecycle, snapshots, and cleanup execute on the resource's dedicated world worker. Only factory registrations are evicted after idle_timeout seconds.
register(resource_id: str, obj_or_factory: Union[HostedResource, ResourceFactory]) -> str
Register an Env, World, WorldNode, or zero-arg root factory.
WorldEnv exports its world and complete node tree automatically. Re-registering the same object returns its existing ID, without aliases. World/node relationships and child names must stay fixed after registration. Factories run on the world worker on first access (including discovery). Their topology must remain identical across idle eviction and revival. A root WorldNode with world=None owns a separate domain, including its detached children. Each node must declare a backend; device defaults to None for RPC coercion. Devices secretly shared by detached nodes have no ownership protection, so their construction must be trusted.
attach(transport: MessageTransport) -> _Session
Accept a connected MessageTransport, starting a session in background.
connect(**client_options: object) -> RemoteClient
Create an in-memory RemoteClient using the full wire protocol.
listen(host: str = '127.0.0.1', port: int = 0) -> str
Start the optional WebSocket listener; return its ws:// endpoint.
RemoteEnv(client: RemoteClient, resource_id: str)
Bases: _Proxy, Env
instance-attribute
¶
observation_space: Space[ObsType, BDeviceType, BDtypeType, BRNGType]
class-attribute
instance-attribute
¶
context_space: Optional[Space[ContextType, BDeviceType, BDtypeType, BRNGType]] = None
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.
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.
reset(*, mask: Optional[ArrayAPIArray] = None, seed: Optional[int] = None, **kwargs: Any) -> ResetResult
reload(*, mask: Optional[ArrayAPIArray] = None, seed: Optional[int] = None, **kwargs: Any) -> ResetResult
RemoteWorld(client: RemoteClient, resource_id: str)
Bases: _Proxy, World
instance-attribute
¶
device: Optional[BDeviceType]
The world timestep in seconds, if None, the world is asynchronous (real-time)
instance-attribute
¶
world_timestep: Optional[float]
The world's physical timestep in seconds, there might be multiple world sub-steps inside a world step. If none this means it is not known
class-attribute
instance-attribute
¶
world_subtimestep: Optional[float] = None
The number of parallel environments in this world
is_control_timestep_compatible(control_timestep: Optional[float]) -> bool
Check whether a node control period aligns with world_timestep.
reset(*, seed: Optional[int] = None, mask: Optional[ArrayAPIArray] = None, **kwargs: Any) -> None
reload(*, seed: Optional[int] = None, mask: Optional[ArrayAPIArray] = None, **kwargs: Any) -> None
after_reset(*, seed: Optional[int] = None, mask: Optional[ArrayAPIArray] = None, **kwargs: Any) -> None
after_reload(*, seed: Optional[int] = None, mask: Optional[ArrayAPIArray] = None, **kwargs: Any) -> None
RemoteWorldNode(client: RemoteClient, resource_id: str)
Bases: _Proxy, WorldNode
class-attribute
instance-attribute
¶
context_space: Optional[Space[ContextType, BDeviceType, BDtypeType, BRNGType]] = None
class-attribute
instance-attribute
¶
observation_space: Optional[Space[ObsType, BDeviceType, BDtypeType, BRNGType]] = None
class-attribute
instance-attribute
¶
action_space: Optional[Space[ActType, BDeviceType, BDtypeType, BRNGType]] = None
class-attribute
instance-attribute
¶
supported_render_modes: Sequence[str] = ()
class-attribute
instance-attribute
¶
after_reset_priorities: Set[int] = set()
class-attribute
instance-attribute
¶
after_reload_priorities: Set[int] = set()
class-attribute
instance-attribute
¶
pre_environment_step_priorities: Set[int] = set()
class-attribute
instance-attribute
¶
post_environment_step_priorities: Set[int] = set()
property
¶
effective_update_timestep: Optional[float]
Resolved update period, defaulting to control_timestep when unset.
get_nodes_by_type(node_type: Type[WorldNode]) -> list[WorldNode]
Return nodes in this subtree that are instances of node_type.
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.
pre_environment_step(dt: Union[float, ArrayAPIArray], *, priority: int = 0) -> None
post_environment_step(dt: Union[float, ArrayAPIArray], *, priority: int = 0) -> None
reset(*, priority: int = 0, seed: Optional[int] = None, mask: Optional[ArrayAPIArray] = None, **kwargs: Any) -> None
reload(*, priority: int = 0, seed: Optional[int] = None, mask: Optional[ArrayAPIArray] = None, **kwargs: Any) -> None
RemoteWorldEnv(world: RemoteWorld, node_or_nodes: Union[RemoteWorldNode, Iterable[RemoteWorldNode]], *, render_mode: Optional[str] = 'auto')
Bases: WorldEnv
Local lifecycle composition with explicit remote operation boundaries.
Pass a RemoteWorld and RemoteWorldNode(s) from the same client and world. Underlying nodes always run on the world server. Client-local combinations are supported; combining different simulator worlds isn't a WorldEnv model.
property
¶
control_timestep: Optional[float]
Simulation time represented by one environment control step.
This is the resolved control timestep: the explicit node
control_timestep when configured, otherwise the effective
update timestep, otherwise the world timestep. It is None
when none of these are defined (e.g. an asynchronous real-time
world).
render() -> RenderFrame | Sequence[RenderFrame] | None
Render via the root node when rendering is enabled.
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.
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.
get_node(nested_keys: Union[str, Sequence[str]]) -> Optional[WorldNode[Any, Any, Any, BArrayType, BDeviceType, BDtypeType, BRNGType]]
Look up a node by name or nested path.
get_nodes_by_fn(fn: Callable[[WorldNode[Any, Any, Any, BArrayType, BDeviceType, BDtypeType, BRNGType]], bool]) -> list[WorldNode[Any, Any, Any, BArrayType, BDeviceType, BDtypeType, BRNGType]]
Collect nodes in the tree that satisfy fn.
get_nodes_by_type(node_type: Type[WorldNode[Any, Any, Any, BArrayType, BDeviceType, BDtypeType, BRNGType]]) -> list[WorldNode[Any, Any, Any, BArrayType, BDeviceType, BDtypeType, BRNGType]]
Collect nodes in the tree that are instances of node_type.
reset(*, mask: Optional[ArrayAPIArray] = None, seed: Optional[int] = None, reload: bool = False, **kwargs: Any) -> ResetResult
reload(*, mask: Optional[ArrayAPIArray] = None, seed: Optional[int] = None, **kwargs: Any) -> ResetResult
Bases: Protocol
One reader and one writer may run concurrently; close unblocks both.
Implementations preserve complete message boundaries and order. They must bound buffering and raise ConnectionError/OSError on transport failure.
MemoryTransport(incoming: _Channel, outgoing: _Channel)
WebSocketTransport(connection: Connection)
Bases: ConnectionError
Codec(max_message_size: int = DEFAULT_MAX_MESSAGE_SIZE)
Encode a tagged value tree and contiguous binary attachments.
Limits apply to the whole envelope, on both send and receive. Arrays decode to independently owned NumPy memory; clients may subsequently map backends.
Bases: ValueError
A value or envelope cannot be represented by the v1 codec.
RemoteError(code: str, message: str, *, uncertain: bool = False)
UncertainOutcomeError(message: str = 'Connection lost or timed out; the remote mutation may have executed')
Bases: RemoteError