GenesisEnv¶

torchrl.envs.GenesisEnv(*args, num_workers: int | None = None, **kwargs)[source]¶

Genesis environment built from a named configuration.

Parameters:

env_name (str) – registered environment name. Currently one of 'franka_reach' or 'franka_grab'.
task_name (str, optional) – task name; unused by the built-in configs.
num_workers (int, optional) – when > 1, returns a lazy ParallelEnv wrapping per-worker Genesis envs. Defaults to 1.
max_steps (int, optional) – truncation horizon. Defaults to 1000.
frame_skip (int, optional) – physics steps per env step. Defaults to 1.
from_pixels (bool, optional) – if True, a default camera is added to the scene before it is built and a pixels entry is added to the observation. Defaults to False.
pixels_key (str, optional) – key for the rendered frame. Defaults to "pixels".
pixels_res (tuple[int, int], optional) – (H, W) of the auto-added camera. Ignored when from_pixels=False. Defaults to (320, 320).
device (torch.device, optional) – torch device. When None (the default), uses torch.get_default_device() and calls genesis.init() with the matching backend (gs.cpu, gs.cuda, or gs.metal). If Genesis is already initialized with a different device, raises RuntimeError.
batch_size (torch.Size, optional) – env batch size. Defaults to ().
allow_done_after_reset (bool, optional) – Defaults to False.

For task-specific obs / reward / action, subclass GenesisWrapper directly – see its docstring for the hook list.

Examples

>>> from torchrl.envs import GenesisEnv
>>> env = GenesisEnv(env_name="franka_reach")
>>> td = env.rollout(10)

Docs