Module `moog.physics.abstract_physics`

Abstract physic class.

Classes

class AbstractPhysics (updates_per_env_step)

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class AbstractPhysics(abc.ABC):
    """Abstract physics class.
    
    All physics objects must inherit from this class.
    """

    def __init__(self, updates_per_env_step):
        self._updates_per_env_step = updates_per_env_step
    
    @abc.abstractmethod
    def apply_physics(self, state, updates_per_env_step):
        """Step the physics.
        
        Args:
            state: Environment state.
            updates_per_env_step: Int. Number of times the physics is applied
                per environment step.
        """
        pass

    def reset(self, state):
        """Reset the physics.

        This is called at every episode reset of the environment. Usually it
        does nothing (usually the physics don't change between episodes), but
        for maze environments this is used to initialize the maze for the
        episode.

        Args:
            state: Environment state.
        """
        pass

    def step(self, state):
        """Step physics, applying forces self._updates_per_env_step times."""
        for _ in range(self._updates_per_env_step):
            self.apply_physics(state, self._updates_per_env_step)

    @property
    def updates_per_env_step(self):
        """Number of times the physics is applied per environment step."""
        return self._updates_per_env_step

Abstract physics class.

All physics objects must inherit from this class.

Ancestors

abc.ABC

Subclasses

Instance variables

prop updates_per_env_step

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@property
def updates_per_env_step(self):
    """Number of times the physics is applied per environment step."""
    return self._updates_per_env_step

Number of times the physics is applied per environment step.

Methods

def apply_physics(self, state, updates_per_env_step)

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@abc.abstractmethod
def apply_physics(self, state, updates_per_env_step):
    """Step the physics.
    
    Args:
        state: Environment state.
        updates_per_env_step: Int. Number of times the physics is applied
            per environment step.
    """
    pass

Step the physics.

Args

state: Environment state.
updates_per_env_step: Int. Number of times the physics is applied per environment step.

def reset(self, state)

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def reset(self, state):
    """Reset the physics.

    This is called at every episode reset of the environment. Usually it
    does nothing (usually the physics don't change between episodes), but
    for maze environments this is used to initialize the maze for the
    episode.

    Args:
        state: Environment state.
    """
    pass

Reset the physics.

This is called at every episode reset of the environment. Usually it does nothing (usually the physics don't change between episodes), but for maze environments this is used to initialize the maze for the episode.

Args

state: Environment state.

def step(self, state)

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def step(self, state):
    """Step physics, applying forces self._updates_per_env_step times."""
    for _ in range(self._updates_per_env_step):
        self.apply_physics(state, self._updates_per_env_step)

Step physics, applying forces self._updates_per_env_step times.