unisim.backend.isaacsim.scene_worker.SceneWorkerContext

class unisim.backend.isaacsim.scene_worker.SceneWorkerContext[source]

Bases: object

One independent native asset view per declared entity.

Parameters:

  • protocol (Any)

  • renderer (Any)

Methods

__init__(protocol, renderer)

adopt_initialized_context(renderer, ...)

Project the model-file wire onto this runtime after its existing cold importer.

attach_cuda_ipc(payload)

Import the host-owned canonical CUDA arena on a cold boundary.

attach_slots(payload)

bind_renderer(payload)

capture_frame()

get_meta()

init_sim(payload)

refresh_state_slots()

render_frame()

reset_cuda_ipc(payload)

Apply a selected canonical CUDA reset and republish device state.

reset_entities(payload)

set_state(payload)

Translate only the model-file wire; native reset always uses reset_entities.

shutdown()

step(payload)

step_cuda_ipc(payload)

Run the minimal qpos/qvel/control path with CUDA IPC bulk data.
__init__(protocol, renderer)[source]
Parameters:

  • protocol (Any)

  • renderer (Any)

init_sim(payload)[source]
Parameters:

payload (dict[str, Any])

Return type:

dict[str, Any]

adopt_initialized_context(renderer, metadata, payload)[source]

Project the model-file wire onto this runtime after its existing cold importer.

This adopts live views and the already initialized Kit context. The synthetic execution layout preserves the historical D-wide control surface; it is never published as a new physical entity capability.

Parameters:
Return type:

None

attach_slots(payload)[source]
Parameters:

payload (dict[str, Any])

Return type:

None

attach_cuda_ipc(payload)[source]

Import the host-owned canonical CUDA arena on a cold boundary.

Parameters:

payload (dict[str, Any])

Return type:

dict[str, Any]

refresh_state_slots()[source]
Return type:

None

reset_cuda_ipc(payload)[source]

Apply a selected canonical CUDA reset and republish device state.

Parameters:

payload (dict[str, Any])

Return type:

dict[str, Any]

step_cuda_ipc(payload)[source]

Run the minimal qpos/qvel/control path with CUDA IPC bulk data.

Parameters:

payload (dict[str, Any])

Return type:

dict[str, Any]

set_state(payload)[source]

Translate only the model-file wire; native reset always uses reset_entities.

Parameters:

payload (dict[str, Any])

Return type:

dict[str, Any]

step(payload)[source]
Parameters:

payload (dict[str, Any])

Return type:

dict[str, Any]

reset_entities(payload)[source]
Parameters:

payload (dict[str, Any])

Return type:

dict[str, Any]

get_meta()[source]
Return type:

dict[str, Any]

shutdown()[source]
Return type:

None

bind_renderer(payload)[source]
Parameters:

payload (dict[str, Any])

Return type:

dict[str, Any]

render_frame()[source]
Return type:

dict[str, Any]

capture_frame()[source]
Return type:

dict[str, Any]