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"""Abstract base class for environment randomizer."""
import abc
class EnvRandomizerBase(object):
"""Abstract base class for environment randomizer.
Randomizes physical parameters of the objects in the simulation and adds
perturbations to the stepping of the simulation.
"""
__metaclass__ = abc.ABCMeta
@abc.abstractmethod
def randomize_env(self, env):
"""Randomize the simulated_objects in the environment.
Will be called at when env is reset. The physical parameters will be fixed
for that episode and be randomized again in the next environment.reset().
Args:
env: The Minitaur gym environment to be randomized.
"""
pass
def randomize_step(self, env):
"""Randomize simulation steps.
Will be called at every timestep. May add random forces/torques to Minitaur.
Args:
env: The Minitaur gym environment to be randomized.
"""
pass
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