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f9cf739 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 | class ObjectGroup:
"""
An abstraction that encompasses a group of objects that interact together in a meaningful way
name (str): Name of this object group. This will be prepended to all objects generated by this group.
"""
def __init__(self, name):
# Store internal variables
self.name = name
self.sim = None # Reference to shared mjsim object
self._objects = {} # maps object names to object class instances
# Generate objects
self._generate_objects()
def get_states(self):
"""
Function to grab group-relevant states. This should be implemented by the subclass.
Returns:
dict: Keyword-mapped states for this group
"""
raise NotImplementedError
def update_sim(self, sim):
"""
Updates internal reference to sim and all other relevant references
Args:
sim (MjSim): Active mujoco sim reference
"""
self.sim = sim
def _generate_objects(self):
"""
Internal helper function that generates the objects for this group. Should populate self._objects mapping
names of objects to their actual object class instances.
"""
raise NotImplementedError
@property
def objects(self):
"""
Contains references to all objects owned by this group. Mapped from names to object instances
Returns:
dict: keyword-mapped object class instances
"""
return self._objects
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