Source code for embodichain.lab.sim.atomic_actions.scene

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"""Scene-observation boundary for dynamic atomic-action execution."""

from __future__ import annotations

from typing import Protocol, runtime_checkable

import torch

from .state import SceneSnapshot




@runtime_checkable
class SceneProvider(Protocol):
    """Produce scene snapshots correlated with execution environments.

    Implementations own scene-change detection and revision advancement. A
    snapshot's entity rows must follow the supplied ``env_ids`` order. Scene
    and collision-world revisions must never regress for a stable environment.
    """



    def snapshot(
        self,
        *,
        timestamp: float,
        env_ids: torch.Tensor,
    ) -> SceneSnapshot:
        """Capture the latest versioned scene state.

        Args:
            timestamp: Observation timestamp supplied by the execution backend.
            env_ids: Stable ordered environment correlation IDs.

        Returns:
            Scene snapshot whose batched entities follow ``env_ids`` order.
        """




__all__ = ["SceneProvider"]