Method __init__

scripts/advanced/replay_state.py:110–188

(self, handler, scenario, args)

    """Manages scene randomization across multiple variants without environment restart."""

    def __init__(self, handler, scenario, args):
        self.handler = handler
        self.scenario = scenario
        self.args = args
        self.scene_randomizer = None
        self.light_randomizers = []

        if not args.enable_scene:
            log.info("Scene randomization disabled")
            return

        # Create scene configuration
        log.info("=" * 70)
        log.info("SCENE RANDOMIZATION SETUP")
        log.info("=" * 70)
        log.info(f"  Scene type: {args.scene_type}")
        log.info(f"  Room size: {args.room_size}m x {args.room_size}m")
        log.info(f"  Wall height: {args.wall_height}m")
        log.info(f"  Material randomization: {'Enabled' if args.randomize_materials else 'Disabled'}")
        log.info(f"  Light randomization: {'Enabled' if args.randomize_lights else 'Disabled'}")
        log.info(f"  Base seed: {args.base_seed}")
        log.info(f"  Number of variants: {args.num_variants}")

        # Create scene preset
        if args.scene_type == "empty_room":
            scene_cfg = ScenePresets.empty_room(
                room_size=args.room_size,
                wall_height=args.wall_height,
                wall_thickness=0.1,
            )
        elif args.scene_type == "tabletop_workspace":
            scene_cfg = ScenePresets.tabletop_workspace(
                room_size=args.room_size,
                wall_height=args.wall_height,
                table_size=(1.8, 1.8, 0.1),
                table_height=args.table_height,
            )
        elif args.scene_type == "floor_only":
            scene_cfg = ScenePresets.floor_only(
                floor_size=args.room_size,
                floor_thickness=0.1,
            )
        else:
            log.error(f"Unknown scene type: {args.scene_type}")
            return

        # Override material settings
        if not args.randomize_materials:
            log.info("\nUsing fixed materials")
            scene_cfg.floor_materials = SceneMaterialPoolCfg(
                material_paths=["roboverse_data/materials/arnold/Carpet/Carpet_Beige.mdl"],
                selection_strategy="sequential",
            )
            scene_cfg.wall_materials = SceneMaterialPoolCfg(
                material_paths=["roboverse_data/materials/arnold/Masonry/Stucco.mdl"],
                selection_strategy="sequential",
            )
            scene_cfg.ceiling_materials = SceneMaterialPoolCfg(