name: simbox_plan_and_render
load_stage:
  scene_loader:                            # Scene loader
    type: env_loader
    args:
      workflow_type: SimBoxDualWorkFlow
      cfg_path: workflows/simbox/core/configs/tasks/example/sort_the_rubbish.yaml  # Task config path
      simulator:
        physics_dt: 1/30                   # Physics update rate
        rendering_dt: 1/30                 # Render update rate
        stage_units_in_meters: 1.0         # Stage unit scale
        headless: True                     # Headless mode (no GUI); set false for visual debugging
        anti_aliasing: 0                   # Anti-aliasing level
  layout_random_generator:                 # Scene randomization
    type: env_randomizer
    args:
      random_num: 6                        # Number of random samples per task
      strict_mode: true                    # true: output count must equal random_num
plan_stage:
  seq_planner:                             # Trajectory planner
    type: env_planner
render_stage:
  renderer:                                # Renderer
    type: env_renderer
store_stage:
  writer:                                  # Data writer
    type: env_writer
    args:
      batch_async: true                    # Async writes (better perf, more memory)
      output_dir: output/${name}/          # Output directory