| from abc import ABC, abstractmethod |
| from typing import Optional |
|
|
|
|
| class Policy(ABC): |
| """Base class for implementing control policies in the Gr00t framework. |
| |
| A Policy defines how an agent should behave in an environment by mapping observations |
| to actions. This abstract base class provides the interface that all concrete policy |
| implementations must follow. |
| """ |
|
|
| def set_goal(self, goal: dict[str, any]): |
| """Set the command from the planner that the policy should follow. |
| |
| Args: |
| goal: Dictionary containing high-level commands or goals from the planner |
| """ |
| pass |
|
|
| def set_observation(self, observation: dict[str, any]): |
| """Update the policy's current observation of the environment. |
| |
| Args: |
| observation: Dictionary containing the current state/observation of the environment |
| """ |
| self.observation = observation |
|
|
| @abstractmethod |
| def get_action(self, time: Optional[float] = None) -> dict[str, any]: |
| """Compute and return the next action at the specified time, based on current observation |
| and planner command. |
| |
| Args: |
| time: Optional "monotonic time" for time-dependent policies |
| |
| Returns: |
| Dictionary containing the action to be executed |
| """ |
|
|
| def close(self): |
| """Clean up any resources used by the policy.""" |
| pass |
|
|
| def reset(self): |
| """Reset the policy to its initial state.""" |
| pass |
|
|
