issacdataengine/docs_crawled/guides_quickstart.md

Source: https://internrobotics.github.io/InternDataEngine-Docs/guides/quickstart.html

Quick Start ​

This guide walks you through running your first InternDataEngine data generation task and understanding the core configuration concepts.

Running Your First Task ​

The quickest way to start: bash

/isaac-sim/python.sh launcher.py \
  --config configs/simbox/de_plan_with_render_template.yaml

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You can also use the wrapper script (same effect, simpler arguments): bash

bash scripts/simbox/simbox_plan_with_render.sh <task_config_path> [num_samples] [random_seed]

# Example
bash scripts/simbox/simbox_plan_with_render.sh \
  workflows/simbox/core/configs/tasks/basic/split_aloha/track_the_targets/track_the_targets.yaml 10

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See the script file for more usage details.

Command Line Arguments ​

| Argument | Description | | --config | **Required **. Path to the execution config file | | --random_seed | Optional. Fix random seed for reproducibility | | --debug | Optional. Debug mode — exceptions are raised immediately |

Any field in the config file can be overridden via the command line using dot-separated paths: bash

--load_stage.layout_random_generator.args.random_num=500
--load_stage.scene_loader.args.simulator.headless=false

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This is equivalent to modifying the config file directly.

Execution Modes ​

The engine provides multiple execution modes. Switch between them by changing the config file passed to --config :

| Config File | Mode | Description | | de_plan_with_render_template.yaml | Plan + Render simultaneous | Simplest; good for debugging. Required for fluid tasks | | de_pipe_template.yaml | Plan / Render pipelined | Best performance (memory-dependent); ideal for large-scale production | | de_plan_and_render_template.yaml | Plan and Render sequential | For serial debugging of the Pipe mode | | de_plan_template.yaml | Planning only | Generate trajectories without rendering | | de_render_template.yaml | Rendering only | Render images from existing trajectories; re-render with different backgrounds/materials |

**Recommended **: Use de_plan_with_render_template.yaml or de_plan_and_render_template.yaml during development, and de_pipe_template.yaml for production. Due to potential interference between Isaac Sim multi-process instances, it is recommended to run in containerized environments — e.g., launch multiple single-GPU containers on a cluster to execute the pipeline script. bash

# Debug mode
/isaac-sim/python.sh launcher.py --config configs/simbox/de_plan_with_render_template.yaml

# Production mode
/isaac-sim/python.sh launcher.py --config configs/simbox/de_pipe_template.yaml

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Understanding the Configuration ​

The engine uses two types of config files:

• **Execution configs **( configs/simbox/de_*.yaml ): Define the pipeline execution mode and stage orchestration
• **Task configs **( workflows/simbox/core/configs/tasks/... ): Define the specific task — robots, objects, skills, etc.

Execution Config Details ​

The data pipeline consists of four stages: **Load **-> **Plan **-> **Render **-> **Store **.

Using de_plan_and_render_template.yaml as an example: yaml

load_stage:
  scene_loader:                          # Scene loader
    type: env_loader
    args:
      workflow_type: SimBoxDualWorkFlow
      cfg_path: workflows/simbox/core/configs/tasks/...  # Task config path
      simulator:
        physics_dt: 1/30                 # Physics update rate
        rendering_dt: 1/30              # Render update rate
        headless: True                   # Headless mode (no GUI)
        anti_aliasing: 0                 # Anti-aliasing level
  layout_random_generator:               # Scene randomization
    type: env_randomizer
    args:
      random_num: 5                      # Number of random samples
      strict_mode: true                  # true: output count must equal random_num

plan_stage:
  seq_planner:
    type: env_planner                    # Trajectory planner

render_stage:
  renderer:
    type: env_renderer                   # Renderer

store_stage:
  writer:
    type: env_writer
    args:
      batch_async: true                  # Async writes (better perf, more memory)
      output_dir: output/${name}/        # Output directory

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Task Config ​

A task config defines the complete scene for a data generation run:

| Field | Description | | robots | Robot model and parameters | | objects | Interactive objects in the scene | | camera | Viewpoint and image capture settings | | skills | Manipulation skill sequence to execute | | arena | Object placement regions and scene layout |

Example Tasks ​

Pick and Place ​

bash

/isaac-sim/python.sh launcher.py \
  --config configs/simbox/de_plan_with_render_template.yaml \
  --load_stage.scene_loader.args.cfg_path=workflows/simbox/core/configs/tasks/basic/lift2/insert_the_markpen_in_penholder/left/insert_the_markpen_in_penholder_part0.yaml

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Pouring Task ​

bash

/isaac-sim/python.sh launcher.py \
  --config configs/simbox/de_plan_with_render_template.yaml \
  --load_stage.scene_loader.args.cfg_path=workflows/simbox/core/configs/tasks/basic/lift2/pour_redwine_left.yaml

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Long-Horizon Task ​

bash

/isaac-sim/python.sh launcher.py \
  --config configs/simbox/de_plan_with_render_template.yaml \
  --load_stage.scene_loader.args.cfg_path=workflows/simbox/core/configs/tasks/long_horizon/lift2/dexpnp/sort_parts_0.yaml

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Output Structure ​

Output is saved to the path specified in store_stage.writer.args.output_dir : text

output_dir/
├── <task_type>/
│   └── <robot>/
│       └── <task_name>/
│           └── <arm>/
│               ├── <timestamp1>/
│               │   ├── images.rgb.head/
│               │   ├── images.rgb.hand_right/
│               │   ├── images.rgb.hand_left/
│               │   └── lmdb/
│               └── <timestamp2>/
│                   └── ...
├── de_config.yaml                  # Copy of the execution config
├── de_time_profile_*.log           # Execution time statistics
├── de_p*_w*_time_profile*.log      # (Pipe mode) Per-process timing
└── de_supervisor_p*_w*.log         # (Pipe mode) Process monitor logs

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Debugging Tips ​

Enable Visualization ​

Disable headless mode to show the simulation GUI: bash

--load_stage.scene_loader.args.simulator.headless=false

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Common Issues ​

| Issue | Troubleshooting | | Scene setup errors | Check set_up_scene() in workflows/simbox/core/tasks/banana.py | | Reset failures | Check reset() in workflows/simbox_dual_workflow.py | | Motion planning failures | Check robot config in task YAML, object collision settings, ignore_substring list | | UnicodeDecodeError | Set export PYTHONUTF8=1 |