Skip to content

joint_break_subscribed_state_mixin

JointBreakSubscribedStateMixin

Bases: BaseObjectState

Handles JOINT_BREAK event. The subclass should implement its own on_joint_break method

Source code in omnigibson/object_states/joint_break_subscribed_state_mixin.py 
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
class JointBreakSubscribedStateMixin(BaseObjectState):
    """
    Handles JOINT_BREAK event.
    The subclass should implement its own on_joint_break method
    """

    @abstractmethod
    def on_joint_break(self, joint_prim_path):
        raise NotImplementedError(
            "Subclasses of JointBreakSubscribedStateMixin should implement the on_joint_break method."
        )

    @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("JointBreakSubscribedStateMixin")
        return classes