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unilab.base.base

Classes

ABEnv
EnvCfg	Config for the environment
EnvPlayCapabilities	Env-facing play/render capabilities consumed by training entrypoints.

class unilab.base.base.EnvPlayCapabilities

Bases: object

Env-facing play/render capabilities consumed by training entrypoints.

Parameters:

• supports_native_interactive_renderer (bool)

• supports_physics_state_playback (bool)

• supports_native_video_capture (bool)

supports_native_interactive_renderer: bool = False

supports_physics_state_playback: bool = False

supports_native_video_capture: bool = False

__init__(supports_native_interactive_renderer=False, supports_physics_state_playback=False, supports_native_video_capture=False)

Parameters:

• supports_native_interactive_renderer (bool)

• supports_physics_state_playback (bool)

• supports_native_video_capture (bool)

class unilab.base.base.EnvCfg

Bases: object

Config for the environment

Parameters:

• scene (SceneCfg | None)

• sim_dt (float)

• max_episode_seconds (Optional[float])

• ctrl_dt (float)

• render_spacing (float)

• render_offset_mode (str)

• motrix_max_iterations (Optional[int])

• post_step_forward_sensor (bool)

scene: SceneCfg | None = None

sim_dt: float = 0.01

max_episode_seconds: Optional[float] = None

ctrl_dt: float = 0.01

render_spacing: float = 1.0

render_offset_mode: str = 'grid'

motrix_max_iterations: Optional[int] = None

post_step_forward_sensor: bool = False

property max_episode_steps: int | None

return the max episode steps

property sim_substeps: int

return the number of simulation steps per control step

validate()

validate the config

__init__(scene=None, sim_dt=0.01, max_episode_seconds=None, ctrl_dt=0.01, render_spacing=1.0, render_offset_mode='grid', motrix_max_iterations=None, post_step_forward_sensor=False)

Parameters:

• scene (SceneCfg | None)

• sim_dt (float)

• max_episode_seconds (Optional[float])

• ctrl_dt (float)

• render_spacing (float)

• render_offset_mode (str)

• motrix_max_iterations (Optional[int])

• post_step_forward_sensor (bool)

class unilab.base.base.ABEnv

Bases: ABC

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, extra_data_getter=None)

Execute playback through the backend contract.

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 (dict[str, Any] | None)

• extra_data_getter (Callable[[], 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, extra_data_getter=None, on_plan=None)

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

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 (dict[str, Any] | None)

• extra_data_getter (Callable[[], 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 (dict[str, Any] | None)

Return type:

None

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.