03d9a5b909
- Fix USD metersPerUnit/upAxis for IS 5.0.0 (no longer auto-compensated) - Batch fix all Aligned_obj.usd, table, and art USD files with backups - Fix DomeLight rotation to Z-axis only (prevent tilted environment map) - Fix scene reuse across episodes (arena_file caching, task clearing, prim guard) - Add migration tools: scan_usd_metadata.py, fix_usd_metadata.py - Add migration guide: migerate/migerate.md - Add nvidia-curobo to .gitignore - Fix sort_the_rubbish config: obj_0 -> obj_1 (obj_0 does not exist) Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
32 lines
1.5 KiB
YAML
32 lines
1.5 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: "RayTracedLighting" # PathTracing: higher quality, less noise on Blackwell 改回快速渲染器就改成 "RayTracedLighting"
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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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