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update_state_mixin

UpdateStateMixin

Bases: BaseObjectState

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

Source code in OmniGibson/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()

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

Source code in OmniGibson/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()