Architecture

OGym separates the environment contract, typed spaces, and simulation backends. Native environments implement their transition equations directly. Rapier environments own a PhysicsWorld; feature-gated MuJoCo environments own an MjEnv loaded from embedded or custom XML.

Environment
├── EnvSpace<StateSpace, ActionSpace>
├── reset(seed) -> (state, info)
└── step(action) -> Experience
    ├── current and next state
    ├── reward and action
    ├── info
    └── Terminal

The crate also defines dynamic and const-generic batch interfaces. It does not currently ship a concrete VecEnv or native CartPoleVec implementation.

• Core abstractions describes environment lifecycle and batch contracts.
• Spaces covers validation, sampling, and mixed action modes.
• Backends and dynamics explains native, Rapier, and MuJoCo transitions.
• Implementing an environment is the contributor checklist.