RobotManager¶

class · namespace Hazel

Owns the per-tick Learn pipeline for a set of RobotAgents. The author surface is setup only. Subclass RobotAgent, construct new RobotManager(numAgents, dt, mujocoEntity, agentFactory), then call Setup(mujocoScene). Call Dispose() on teardown. The engine then drives UpdateCommands/CollectState/GetActions each tick. Scenes do not call those.

Implements IDisposable

public class RobotManager : IDisposable

Constructors¶

RobotManager(int, float, Entity, Func)¶

public RobotManager(int numAgents, float dt, Entity mujocoEntity, Func<int, RobotAgent> agentFactory)

Properties¶

NativeHandle¶

public IntPtr NativeHandle { get; }

Methods¶

CollectState()¶

public void CollectState()

Engine-driven. Called each tick at the OnUpdate point to gather observations and publish them for the gRPC Step. A scene does not call it.

Dispose()¶

public void Dispose()

GetActions()¶

public void GetActions()

Engine-driven. Called on the PreMujocoStep event (post motion-graph, pre-physics) to write the latest external action to mjData.ctrl. A scene does not call it.

GetAgent(int)¶

public RobotAgent? GetAgent(int id)

Reset()¶

public void Reset()

Re-initializes every agent (clears buffers, resamples commands, applies the reset pose). Engine/RPC-driven (for example, after a reset). Not part of the script setup path.

Setup(MujocoSceneComponent)¶

public void Setup(MujocoSceneComponent mujocoScene)

UpdateCommands()¶

public void UpdateCommands()

Engine-driven. Called each tick at the OnUpdate point to step the agent's command generators. A scene does not call it; it only constructs the RobotManager and calls Setup().

Source: Hazel/Learn/RobotManager.cs