irsim.lib.behavior.group_behavior

Attributes

logger

Classes

GroupBehavior

Group behavior facade.

Module Contents

irsim.lib.behavior.group_behavior.logger

class irsim.lib.behavior.group_behavior.GroupBehavior(members: list[irsim.world.object_base.ObjectBase], **behavior_dict: Any)

Group behavior facade.

• If a class-based handler is registered, it is instantiated once and reused.

• Otherwise, a function-based behavior is invoked each step.

Create a group behavior wrapper.

Parameters:

• members – Current group members to control.

• **behavior_dict – Behavior configuration. Must include: - name: behavior action (e.g., “orca”). - optional behavior-specific parameters.

Notes

• If a class-based group behavior is registered for (kinematics, name), it will be instantiated once and reused.

• Otherwise, a function-based behavior is used each step.

members

behavior_dict

kinematics: str | None

name: str | None

update_members(members: list[irsim.world.object_base.ObjectBase]) → None

Update the current group members.

Call this if the composition of the group changes at runtime. The class-based handler (if any) is expected to adapt on next call; no forced re-instantiation is performed here.

gen_group_vel() → list[Any]

Generate per-member actions for one step.

Returns:

A list of actions aligned with members. Each element is

behavior-specific (e.g., 2x1 numpy arrays for velocity).

Return type:

list

Behavior:

• Uses a class-based handler if one was registered and initialized.

• Otherwise looks up a function behavior in the registry.

• If no behavior is configured, returns [None] (one sentinel element) and logs a warning periodically in auto mode.

load_group_behaviors(group_behaviors: str = '.group_behavior_methods')

Dynamically import user/group behavior methods.

Parameters:

group_behaviors – Dotted module path (relative to irsim.lib.behavior) that contains group behavior registrations.

Note

Importing this module should register additional behaviors or behavior classes via the behavior registry decorators.