gymwipe.plants.core module¶

Core components for plant implementations.

class Plant[source]¶

Bases: object

Plants are supposed to hold the state of a simulated plant and make it accessible to simulated sensors and modifyable by simulated actuators. The Plant class itself does not provide any features.

class OdePlant(world=None)[source]¶

Bases: gymwipe.plants.core.Plant

A Plant implementation that interacts with an ODE world object: It offers an updateState() method that makes the ODE world simulate physics for the SimPy simulation time that has passed since the most recent updateState() call.

Parameters:	world (`Optional`[`World`]) – A py3ode `World` object. If not provided, a new one will be created with gravity `(0,-9.81,0)`.

updateState()[source]¶: Performs an ODE time step to update the plant’s state according to the current simulation time.