Language Language English 简体中文

unilab.base.base.ABEnv

class unilab.base.base.ABEnv

Bases: ABC

Methods

__init__()
capture_play_video_frame()	Capture one RGB frame through the env-facing video contract.
close()	Clean up environment resources
get_physics_state_snapshot()	Return a physics snapshot for offline playback/video export.
get_playback_model([env_index])	Return a model object suitable for backend-specific playback tooling.
init_play_renderer([render_spacing, ...])	Initialize env-facing playback rendering when supported.
init_state()	Initialize environment and return initial state
render([mode])	Render the current state; mode="rgb_array" returns an RGB frame.
render_play_frame()	Render one frame through the env-facing interactive playback contract.
resolve_play_render_plan(*, ...)	Resolve high-level playback mode through the backend contract.
run_playback(*, initialize, step, num_steps)	Execute playback through the backend contract.
run_playback_mode(*, play_render_mode, ...)	Resolve configured playback mode and execute it through the backend contract.
step(actions)	Step the environment with given actions, return new state

Attributes

action_space	Action space
cfg	The configuration of the environment
num_envs	return the size of the env if it is vectorized
obs_groups_spec	Map from observation group name to its dimension.
observation_space	Observation space
play_capabilities	Return env-facing play/render capabilities.
state	Current environment state (None before first reset)

property play_capabilities: EnvPlayCapabilities

Return env-facing play/render capabilities.

resolve_play_render_plan(*, play_render_mode, play_steps, output_video)

Resolve high-level playback mode through the backend contract.

Parameters:

• play_render_mode (str | None)

• play_steps (int | None)

• output_video (str | PathLike[str] | None)

Return type:

BackendPlayRenderPlan

run_playback(*, initialize, step, num_steps, output_video=None, render_spacing=None, render_offset_mode=None, headless=None, record_video=None, frame_state_getter=None, camera_kwargs=None, debug_overlay_getter=None, on_frame=None)

Execute playback through the backend contract.

debug_overlay_getter returns per-env sequences of unisim.backend.base.DebugPrimitive with env-local poses (None disables overlays for the frame). on_frame is an optional (frame_index, frame) -> frame | None callback applied to each recorded frame before it is written to the video.

Parameters:

• initialize (Callable[[], Any])

• step (Callable[[Any], Any])

• num_steps (int | None)

• output_video (str | PathLike[str] | None)

• render_spacing (float | None)

• render_offset_mode (str | None)

• headless (bool | None)

• record_video (bool | None)

• frame_state_getter (Callable[[], ndarray] | None)

• camera_kwargs (CameraCfg | Mapping[str, Any] | None)

• debug_overlay_getter (Callable[[], Sequence[Sequence[DebugPrimitive] | None] | None] | None)

• on_frame (Callable[[int, ndarray], np.ndarray | None] | None)

Return type:

str | None

run_playback_mode(*, play_render_mode, play_steps, output_video, initialize, step, render_spacing=None, render_offset_mode=None, frame_state_getter=None, camera_kwargs=None, debug_overlay_getter=None, on_frame=None, on_plan=None)

Resolve configured playback mode and execute it through the backend contract.

Overlay gating follows the resolved plan mode: record playback requires play_capabilities.supports_debug_overlay (backends fail closed otherwise); interactive playback requires supports_interactive_debug_overlay — when the backend lacks it the getter is dropped with a warning so interactive playback still runs without overlays.

Parameters:

• play_render_mode (str | None)

• play_steps (int | None)

• output_video (str | PathLike[str] | None)

• initialize (Callable[[], Any])

• step (Callable[[Any], Any])

• render_spacing (float | None)

• render_offset_mode (str | None)

• frame_state_getter (Callable[[], ndarray] | None)

• camera_kwargs (CameraCfg | Mapping[str, Any] | None)

• debug_overlay_getter (Callable[[], Sequence[Sequence[DebugPrimitive] | None] | None] | None)

• on_frame (Callable[[int, ndarray], np.ndarray | None] | None)

• on_plan (Callable[[BackendPlayRenderPlan], None] | None)

Return type:

str | None

abstract property num_envs: int

return the size of the env if it is vectorized

abstract property cfg: EnvCfg

The configuration of the environment

abstract property observation_space: Space

Observation space

abstract property action_space: Space

Action space

abstract property obs_groups_spec: dict[str, int]

Map from observation group name to its dimension.

abstract property state: Any

Current environment state (None before first reset)

abstract init_state()

Initialize environment and return initial state

Return type:

Any

abstract step(actions)

Step the environment with given actions, return new state

Parameters:

actions (ndarray)

Return type:

Any

abstract close()

Clean up environment resources

Return type:

None

init_play_renderer(render_spacing=None, render_offset_mode=None, *, headless=False, capture=False, width=1280, height=720, camera_kwargs=None)

Initialize env-facing playback rendering when supported.

Parameters:

• render_spacing (float | None)

• render_offset_mode (str | None)

• headless (bool)

• capture (bool)

• width (int)

• height (int)

• camera_kwargs (CameraCfg | Mapping[str, Any] | None)

Return type:

None

render(mode='rgb_array')

Render the current state; mode="rgb_array" returns an RGB frame.

Convenience wrapper over init_play_renderer() and capture_play_video_frame(), gated on play_capabilities.supports_native_video_capture.

Parameters:

mode (str)

Return type:

ndarray

render_play_frame()

Render one frame through the env-facing interactive playback contract.

Return type:

None

capture_play_video_frame()

Capture one RGB frame through the env-facing video contract.

Return type:

ndarray

get_physics_state_snapshot()

Return a physics snapshot for offline playback/video export.

Return type:

ndarray

get_playback_model(env_index=None)

Return a model object suitable for backend-specific playback tooling.

Parameters:

env_index (int | None) – Optional vectorized environment index whose playback model should be returned when backend model variants differ across envs.

Return type:

Any

Returns:

A backend-specific playback model object.