factory_schema_class_env.py

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"""Factory: abstract base class for environment classes.

Inherits ABC class. Inherited by environment classes. Defines template for environment classes.
"""

from abc import ABC, abstractmethod


class FactoryABCEnv(ABC):

    @abstractmethod
    def __init__(self):
        """Initialize instance variables. Initialize base superclass. Acquire tensors."""
        pass

    @abstractmethod
    def _get_env_yaml_params(self):
        """Initialize instance variables from YAML files."""
        pass

    @abstractmethod
    def create_envs(self):
        """Set env options. Import assets. Create actors."""
        pass

    @abstractmethod
    def _import_env_assets(self):
        """Set asset options. Import assets."""
        pass

    @abstractmethod
    def _create_actors(self):
        """Set initial actor poses. Create actors. Set shape and DOF properties."""
        pass

    @abstractmethod
    def _acquire_env_tensors(self):
        """Acquire and wrap tensors. Create views."""
        pass

    @abstractmethod
    def refresh_env_tensors(self):
        """Refresh tensors."""
        # NOTE: Tensor refresh functions should be called once per step, before setters.
        pass