name: simbox_pipe_dynamic_actor
load_stage:
  scene_loader:                            # Scene loader (plan process)
    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: 3                        # 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
dump_stage:
  dumper:                                  # Serialize plan results for render process
    type: env
dedump_stage:
  dedumper:                                # Deserialize plan results in render process
    type: de
  scene_loader:                            # Scene loader (render process)
    type: env_loader
    args:
      workflow_type: SimBoxDualWorkFlow
      cfg_path: workflows/simbox/core/configs/tasks/example/sort_the_rubbish.yaml  # Must match load_stage cfg_path
      simulator:
        physics_dt: 1/30                   # Physics update rate
        rendering_dt: 1/30                 # Render update rate
        rendering_interval: 5              # Render every N physics steps
        headless: true                     # Headless mode
        multi_gpu: true                    # Enable multi-GPU for render workers
  layout_random_generator:
    type: env_randomizer
  seq_planner:                             # Reads serialized trajectories
    type: env_reader
render_stage:
  renderer:                                # Renderer
    type: env_renderer
store_stage:
  writer:                                  # Data writer
    type: env_writer
    args:
      batch_async: false                   # Sync writes (safer for pipe mode)
      output_dir: output/${name}/          # Output directory
stage_pipe:
  stage_num: [3, 3]                        # Number of pipeline stages [plan, render]
  stage_dev: ["gpu", "gpu"]                # Device type per stage
  worker_num: [2, 1]                       # Number of workers per stage [plan, render]
  worker_schedule: True                    # Enable dynamic worker scheduling
  safe_threshold: 100                      # Max pending items before throttling
  status_timeouts:                         # Worker timeout thresholds (seconds, -1 = infinite)
    idle: 360                              # Max idle time before restart
    ready: -1                              # Max time in ready state
    running: 600                           # Max running time per task
  monitor_check_interval: 120              # Health check interval (seconds)