irsim.world.object_group

Classes

ObjectGroup

Container for objects that share a role and group id.

Module Contents

class irsim.world.object_group.ObjectGroup(members: list[irsim.world.object_base.ObjectBase], group_id: int)

Container for objects that share a role and group id.

Groups are created by the world when multiple objects belong to the same YAML group. They provide sequence-like access to members and a single place to evaluate group-level behavior such as ORCA.

Define a group of objects with the same role and group id.

Parameters:

• members – list[ObjectBase]

• group_id – group id

Returns:

None

members

group_id

role

kinematics

number

group_behavior

step(actions: list[any], sensor_step: bool = True)

Step the group of objects.

Parameters:

• actions – robot actions for each member in the group

• sensor_step – whether to step the sensors of the members in the group

Returns:

None

gen_group_vel()

Generate velocities for all members from the configured group behavior.

property logger

Logger bound to the active environment parameters.