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update_state_mixin

GlobalUpdateStateMixin

Bases: BaseObjectState

A state-mixin that allows for per-sim-step global updates via the global_update() call

Source code in omnigibson/object_states/update_state_mixin.py 
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class GlobalUpdateStateMixin(BaseObjectState):
    """
    A state-mixin that allows for per-sim-step global updates via the global_update() call
    """

    @classmethod
    def global_initialize(cls):
        """
        Executes a global initialization sequence for this state. Default is no-op
        """
        pass

    @classmethod
    def global_update(cls):
        """
        Executes a global update for this object state. Default is no-op
        """
        pass

    @classproperty
    def _do_not_register_classes(cls):
        # Don't register this class since it's an abstract template
        classes = super()._do_not_register_classes
        classes.add("GlobalUpdateStateMixin")
        return classes

global_initialize() classmethod

Executes a global initialization sequence for this state. Default is no-op

Source code in omnigibson/object_states/update_state_mixin.py 
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@classmethod
def global_initialize(cls):
    """
    Executes a global initialization sequence for this state. Default is no-op
    """
    pass

global_update() classmethod

Executes a global update for this object state. Default is no-op

Source code in omnigibson/object_states/update_state_mixin.py 
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@classmethod
def global_update(cls):
    """
    Executes a global update for this object state. Default is no-op
    """
    pass

UpdateStateMixin

Bases: BaseObjectState

A state-mixin that allows for per-sim-step updates via the update() call

Source code in omnigibson/object_states/update_state_mixin.py 
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class UpdateStateMixin(BaseObjectState):
    """
    A state-mixin that allows for per-sim-step updates via the update() call
    """

    def update(self):
        """
        Updates the object state. This function will be called for every simulator step
        """
        assert self._initialized, "Cannot update uninitialized state."
        return self._update()

    def _update(self):
        """
        This function will be called once for every simulator step. Must be implemented by subclass.
        """
        # Explicitly raise not implemented error to avoid silent bugs -- update should never be called otherwise
        raise NotImplementedError

    @classproperty
    def _do_not_register_classes(cls):
        # Don't register this class since it's an abstract template
        classes = super()._do_not_register_classes
        classes.add("UpdateStateMixin")
        return classes

_update()

This function will be called once for every simulator step. Must be implemented by subclass.

Source code in omnigibson/object_states/update_state_mixin.py 
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def _update(self):
    """
    This function will be called once for every simulator step. Must be implemented by subclass.
    """
    # Explicitly raise not implemented error to avoid silent bugs -- update should never be called otherwise
    raise NotImplementedError

update()

Updates the object state. This function will be called for every simulator step

Source code in omnigibson/object_states/update_state_mixin.py 
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def update(self):
    """
    Updates the object state. This function will be called for every simulator step
    """
    assert self._initialized, "Cannot update uninitialized state."
    return self._update()