unienv_interface.world.funcworld¶
Bases: ABC, Generic[WorldStateT, BArrayType, BDeviceType, BDtypeType, BRNGType]
Functional counterpart to :class:World with explicit state passing.
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
abstractmethod
¶
initial(*, seed: Optional[int] = None, **kwargs) -> WorldStateT
Construct the initial world state.
abstractmethod
¶
step(state: WorldStateT) -> Tuple[WorldStateT, Union[float, BArrayType]]
Advance state by one world step.
abstractmethod
¶
reset(state: WorldStateT, *, seed: Optional[int] = None, mask: Optional[BArrayType] = None, **kwargs) -> WorldStateT
Perform reset on the selected environments with the given mask Note that the state input and output should be with the full batch size
reload(state: WorldStateT, *, seed: Optional[int] = None, **kwargs) -> WorldStateT
Prepare the world for reloading. This is called BEFORE nodes add entities.
Use this hook to: - Clear old scene data - Load asset definitions - Prepare for entities to be added by nodes
DO NOT compile the scene here. Compilation happens in after_reload() after
all nodes have had a chance to add their entities.
By default, this just calls initial with the same parameters.
Simulation environments should override this to prepare for entity addition.
The reload flow is
- world.reload() # World prepares (clear, load assets)
- node.reload() # Nodes add entities to scene
- world.after_reload() # World compiles scene with all entities
- node.after_reload() # Nodes cache references
after_reset(state: WorldStateT, *, seed: Optional[int] = None, mask: Optional[BArrayType] = None, **kwargs) -> WorldStateT
Called after reset() completes.
Use this hook to perform post-reset initialization. Returns the (possibly modified) world state.
after_reload(state: WorldStateT, *, seed: Optional[int] = None, mask: Optional[BArrayType] = None, **kwargs) -> WorldStateT
Compile the world scene AFTER all nodes have added their entities.
This is where the actual scene compilation should happen, since nodes
have already added their entities during the reload() phase.
Use this hook to: - Compile the simulation scene - Cache references to entities - Perform validation that requires the compiled scene - Initialize state that depends on the final scene configuration
Returns the (possibly modified) world state.
is_control_timestep_compatible(control_timestep: Optional[float]) -> bool
Check whether a node control period aligns with world_timestep.