`evorl.envs.mujoco_playground`¶

Module Contents¶

Classes¶

MjxEnvAdapter

Adapter for Mujoco Playground environments.

Functions¶

`create_mujoco_playground_env`	Create Brax environment.
`create_wrapped_mujoco_playground_env`	Create wrapped Brax environment for training.

API¶

class evorl.envs.mujoco_playground.MjxEnvAdapter(env: mujoco_playground.MjxEnv)¶

Bases: evorl.envs.env.EnvAdapter

Adapter for Mujoco Playground environments.

property action_space: evorl.envs.space.Space¶

property obs_space: evorl.envs.space.Space¶

reset(key: chex.PRNGKey) → evorl.envs.env.EnvState¶

step(state: evorl.envs.env.EnvState, action: evorl.types.Action) → evorl.envs.env.EnvState¶

evorl.envs.mujoco_playground.create_mujoco_playground_env(env_name: str, **kwargs) → evorl.envs.mujoco_playground.MjxEnvAdapter¶

Create Brax environment.

Parameters:

env_name – Environment name.
kwargs – Arguments passing into Brax. If you want to use jax backend, set kwargs[“config_overrides”][“impl”] = “jax”

Returns:

Brax env.

evorl.envs.mujoco_playground.create_wrapped_mujoco_playground_env(env_name: str, episode_length: int = 1000, parallel: int = 1, autoreset_mode: evorl.envs.wrappers.training_wrapper.AutoresetMode = AutoresetMode.NORMAL, discount: float | None = 1.0, record_ori_obs: bool = False, **kwargs) → evorl.envs.env.Env¶

Create wrapped Brax environment for training.