ArticulatedAgentManager class
Handles creating, updating and managing all agent instances.
Methods
- def first_setup(self)
- def on_new_scene(self) -> None
- Call on a new scene. This will destroy and re-create the robot simulator instances.
- def post_obj_load_reconfigure(self)
- Called at the end of the simulator reconfigure method. Used to set the starting configurations of the robots if specified in the task config.
- def pre_obj_clear(self) -> None
- Must call before all objects in the scene are removed before the next episode. This will reset the grasp constraints and any references to previously existing objects.
- def update_agents(self)
- Update all agent instance managers.
- def update_debug(self)
- Only call when in debug mode. This renders visualization helpers for the agents.
Special methods
- def __getitem__(self, key: int)
- Fetches the agent data at the agent index.
- def __init__(self, cfg, sim)
- def __len__(self)
- The number of agents.
Properties
- articulated_agents_iter: typing.Iterator[articulated_agents.MobileManipulator] get
- Iterator over all agent interfaces.
- grasp_iter: typing.Iterator[rearrange_grasp_manager.RearrangeGraspManager] get