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