unilab.base.scene.SceneCfg

class unilab.base.scene.SceneCfg[source]

Bases: SceneCfg

Task-owned scene declaration with UniLab entity materialization.

Physics scene fields and all backend-facing behavior are implemented by UniSim. UniLab only converts Hydra/OmegaConf entity mappings into the manager facade’s EntityCfg records on the cold configuration path.

Parameters:

Methods

__init__(model_file[, fragment_files, ...])

Attributes

default_keyframe_name

Optional named keyframe used as the Manager-Based default state.

terrain

visual_model_file

model_file

fragment_files

entities

Logical entity partitions materialized by the base-owned manager facade.
model_file: str
fragment_files: list[str]
terrain: TerrainSceneCfg | None = None
entities: dict[str, object]

Logical entity partitions materialized by the base-owned manager facade.

__init__(model_file, fragment_files=<factory>, terrain=None, entities=<factory>, visual_model_file=None, default_keyframe_name=None)
Parameters:
default_keyframe_name: str | None = None

Optional named keyframe used as the Manager-Based default state.

visual_model_file: str | None = None