init commit

nimbus/components/data/scene.py

@@ -0,0 +1,69 @@
+class Scene:
+    """
+    Represents a loaded scene in the simulation environment, holding workflow context and task execution state.
+
+    Args:
+        name (str): The name of the scene or task.
+        pcd: Point cloud data associated with the scene.
+        scale (float): Scale factor for the scene geometry.
+        materials: Material data for the scene.
+        textures: Texture data for the scene.
+        floor_heights: Floor height information for the scene.
+        wf: The task workflow instance managing this scene.
+        task_id (int): The index of the current task within the workflow.
+        task_exec_num (int): The execution count for the current task, used for task repetition tracking.
+        simulation_app: The Isaac Sim SimulationApp instance.
+    """
+
+    def __init__(
+        self,
+        name: str = None,
+        pcd=None,
+        scale: float = 1.0,
+        materials=None,
+        textures=None,
+        floor_heights=None,
+        wf=None,
+        task_id: int = None,
+        task_exec_num: int = 1,
+        simulation_app=None,
+    ):
+        self.name = name
+        self.pcd = pcd
+        self.materials = materials
+        self.textures = textures
+        self.floor_heights = floor_heights
+        self.scale = scale
+        self.wf = wf
+        self.simulation_app = simulation_app
+        self.task_id = task_id
+        self.plan_info = None
+        self.generate_success = False
+        self.task_exec_num = task_exec_num
+
+    def __getstate__(self):
+        state = self.__dict__.copy()
+        del state["pcd"]
+        return state
+
+    def __setstate__(self, state):
+        self.__dict__.update(state)
+        self.pcd = None
+
+    def add_plan_info(self, plan_info):
+        self.plan_info = plan_info
+
+    def flush_to_disk(self, path):
+        pass
+
+    def load_from_disk(self, path):
+        pass
+
+    def update_generate_status(self, success):
+        self.generate_success = success
+
+    def get_generate_status(self):
+        return self.generate_success
+
+    def update_task_exec_num(self, num):
+        self.task_exec_num = num