f338199bcb
- Add scipy Rotation scalar_first monkey-patch for older scipy (<1.11) - Fix SimulationApp import to support both IS 4.x and 5.x - Reuse task object across reset() calls to prevent duplicate prims - Add _scene_initialized guard in set_up_scene() for repeated resets - Cache arena_file_path to survive task_cfg.pop() - Clean up collision groups before re-creating - Switch to PathTracing renderer for clean output on Blackwell GPU Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
32 lines
1.4 KiB
YAML
32 lines
1.4 KiB
YAML
name: simbox_plan_and_render
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load_stage:
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scene_loader: # Scene loader
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type: env_loader
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args:
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workflow_type: SimBoxDualWorkFlow
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cfg_path: workflows/simbox/core/configs/tasks/example/sort_the_rubbish.yaml # Task config path
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simulator:
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physics_dt: 1/30 # Physics update rate
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rendering_dt: 1/30 # Render update rate
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stage_units_in_meters: 1.0 # Stage unit scale
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headless: True # Headless mode (no GUI); set false for visual debugging
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renderer: "PathTracing" # PathTracing: higher quality, less noise on Blackwell
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anti_aliasing: 0 # Anti-aliasing level
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layout_random_generator: # Scene randomization
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type: env_randomizer
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args:
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random_num: 6 # Number of random samples per task
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strict_mode: true # true: output count must equal random_num
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plan_stage:
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seq_planner: # Trajectory planner
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type: env_planner
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render_stage:
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renderer: # Renderer
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type: env_renderer
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store_stage:
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writer: # Data writer
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type: env_writer
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args:
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batch_async: true # Async writes (better perf, more memory)
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output_dir: output/${name}/ # Output directory
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