Language

unilab.base.np_env¶

Classes

`NpEnv`	统一的 numpy 环境基类（backend-agnostic）
`NpEnvState`	NpEnvState(obs: 'dict[str, np.ndarray]', reward: 'np.ndarray', terminated: 'np.ndarray', truncated: 'np.ndarray', info: 'dict[str, Any]', final_observation: 'dict[str, np.ndarray] \| None' = None)

class unilab.base.np_env.NpEnvState[source]¶

Bases: object

NpEnvState(obs: ‘dict[str, np.ndarray]’, reward: ‘np.ndarray’, terminated: ‘np.ndarray’, truncated: ‘np.ndarray’, info: ‘dict[str, Any]’, final_observation: ‘dict[str, np.ndarray] | None’ = None)

Parameters:

obs (dict[str, ndarray])
reward (ndarray)
terminated (ndarray)
truncated (ndarray)
info (dict[str, Any])
final_observation (dict[str, ndarray] | None)

obs: dict[str, ndarray]¶

reward: ndarray¶

terminated: ndarray¶

truncated: ndarray¶

info: dict[str, Any]¶

final_observation: dict[str, ndarray] | None = None¶

replace(**updates)[source]¶

Parameters:: updates (Any)
Return type:: NpEnvState

__init__(obs, reward, terminated, truncated, info, final_observation=None)¶

Parameters:

obs (dict[str, ndarray])
reward (ndarray)
terminated (ndarray)
truncated (ndarray)
info (dict[str, Any])
final_observation (dict[str, ndarray] | None)

class unilab.base.np_env.NpEnv[source]¶

Bases: ABEnv

统一的 numpy 环境基类（backend-agnostic）

Parameters:

cfg (EnvCfg)
backend (SimBackend)
num_envs (int)

__init__(cfg, backend, num_envs)[source]¶

Parameters:

cfg (EnvCfg)
backend (SimBackend)
num_envs (int)

property cfg: EnvCfg¶: The configuration of the environment

property num_envs: int¶: return the size of the env if it is vectorized

property state: NpEnvState | None¶: Current environment state (None before first reset)

property obs_groups_spec: dict[str, int]¶

101}.

Subclasses MUST override this property.

Type:: Return observation group dimensions, e.g. {“obs”
Type:: 98, “critic”

property observation_space: Space¶: Observation space

build_symmetry_augmentation(*, device)[source]¶

Return an env-owned runtime symmetry adapter when the task/backend supports it.

Parameters:: device (str)
Return type:: SymmetryAugmentation | None

init_state()[source]¶

Initialize environment and return initial state

Return type:: NpEnvState

step(actions)[source]¶

Step the environment with given actions, return new state

Parameters:: actions (ndarray)
Return type:: NpEnvState

reset(env_indices)[source]¶

Parameters:: env_indices (ndarray)
Return type:: Tuple[dict[str, ndarray], dict]

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

Initialize backend-native playback rendering when available.

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

resolve_play_render_plan(*, play_render_mode, play_steps, output_video)[source]¶

Resolve high-level playback mode through the concrete backend.

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)[source]¶

Execute playback through the concrete backend.

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

render_play_frame()[source]¶

Render one interactive playback frame through the env contract.

Return type:: None

capture_play_video_frame()[source]¶

Capture one detached RGB video frame through the env contract.

Return type:: ndarray

get_physics_state_snapshot()[source]¶

Return a detached physics snapshot for offline playback/video export.

Return type:: ndarray

abstract apply_action(actions, state)[source]¶

子类实现：action → ctrl

Parameters:

actions (ndarray)
state (NpEnvState)

Return type:

ndarray

abstract update_state(state)[source]¶

子类实现：计算 obs/reward/terminated

Parameters:: state (NpEnvState)
Return type:: NpEnvState

property play_capabilities: EnvPlayCapabilities¶: Return env-facing play/render capabilities.

get_playback_model(env_index=None)[source]¶

Return the backend playback model for one env in a vectorized batch.

Parameters:: env_index (int | None) – Optional vectorized environment index.
Return type:: Any
Returns:: The backend-specific playback model.

set_nan_guard(guard)[source]¶

Parameters:: guard (NanGuard)
Return type:: None

set_autoreset(enabled)[source]¶

Toggle automatic reset of done envs at the end of step.

Defaults to True (standard RL autoreset). Interactive playback can disable it so a terminated robot stays put until a manual reset.

Parameters:: enabled (bool)
Return type:: None

close()[source]¶

关闭环境

Return type:: None