Currently Genesis blocks envs_idx to be set from reset() for IPC scene. However, it is desirable to let each scene reset on its own timing.
When I asked on libuipc, they recommended me to use the StateAccessor to do the job. I think I can add FiniteElementStateAccessorFeature to the Genesis' IPC coupler and together with AffineBodyStateAccessorFeature, we can "reset" the scene per-env. Do you think this is reasonable?
Related Issue on libuipc:
spiriMirror/libuipc#434
Related example of StateAccessor:
https://github.com/spiriMirror/libuipc-samples/blob/main/examples/31_state_accessor_feature/main.py
Currently Genesis blocks envs_idx to be set from reset() for IPC scene. However, it is desirable to let each scene reset on its own timing.
When I asked on libuipc, they recommended me to use the StateAccessor to do the job. I think I can add
FiniteElementStateAccessorFeatureto the Genesis' IPC coupler and together withAffineBodyStateAccessorFeature, we can "reset" the scene per-env. Do you think this is reasonable?Related Issue on libuipc:
spiriMirror/libuipc#434
Related example of StateAccessor:
https://github.com/spiriMirror/libuipc-samples/blob/main/examples/31_state_accessor_feature/main.py