63 lines
3.1 KiB
YAML
63 lines
3.1 KiB
YAML
name: simbox_pipe_dynamic_actor
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load_stage:
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scene_loader: # Scene loader (plan process)
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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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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: 3 # 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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dump_stage:
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dumper: # Serialize plan results for render process
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type: env
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dedump_stage:
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dedumper: # Deserialize plan results in render process
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type: de
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scene_loader: # Scene loader (render process)
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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 # Must match load_stage cfg_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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rendering_interval: 5 # Render every N physics steps
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headless: true # Headless mode
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multi_gpu: true # Enable multi-GPU for render workers
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layout_random_generator:
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type: env_randomizer
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seq_planner: # Reads serialized trajectories
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type: env_reader
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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: false # Sync writes (safer for pipe mode)
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output_dir: output/${name}/ # Output directory
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stage_pipe:
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stage_num: [3, 3] # Number of pipeline stages [plan, render]
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stage_dev: ["gpu", "gpu"] # Device type per stage
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worker_num: [2, 1] # Number of workers per stage [plan, render]
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worker_schedule: True # Enable dynamic worker scheduling
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safe_threshold: 100 # Max pending items before throttling
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status_timeouts: # Worker timeout thresholds (seconds, -1 = infinite)
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idle: 360 # Max idle time before restart
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ready: -1 # Max time in ready state
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running: 600 # Max running time per task
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monitor_check_interval: 120 # Health check interval (seconds)
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