PhysLink

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PhysLink bridges physical simulators and deep RL adapters in one pip install.

Plug your robot trajectories into DreamerV3 (and future backends) without writing boilerplate space definitions, checkpoint logic, or compliance checks. PhysLink handles the plumbing — you keep the science.

Why PhysLink

Install

pip install physlink

Works on Google Colab out of the box. No CUDA required for diagnostics and space definitions.

Quick example

import physlink

# 1. Verify your environment (< 15 s)
physlink.doctor()

# 2. Define spaces from your robot config
obs = physlink.ObservationSpace.from_proprioception(joints=7, include_velocity=True)
act = physlink.ActionSpace.continuous(dims=7, bounds=(-1.0, 1.0))

# 3. Adapt
adapter = physlink.DreamerV3Adapter(obs, act)
adapter.fit(trajectories, steps=10_000)

# 4. Validate physics compliance
physlink.register_invariant(adapter, "energy", fn=energy_fn, tolerance=0.05)
report = adapter.compliance_report()
report.plot()

# 5. Visualise
adapter.visualize(trajectories)   # → triptych GIF
adapter.export("./run-01/")

Documentation

Full docs at Denis-hamon.github.io/physlink — includes API reference, lab adoption guide, and domain-scientist quickstart.

Status

v0.1.x — public API stable across minor versions (see CHANGELOG).
test-cpu CI passes on every PR. GPU benchmarks run on release tags.

Contributing

See CONTRIBUTING.md. Issues and PRs welcome — use the provided templates.