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, ...])

materialize_entities()

Convert task/Hydra physical records without importing a physics SDK.

validate_composition([num_envs])

Attributes

default_keyframe_name

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

entity_assets

Physical sources, distinct from the task-owned logical entity selectors.

entity_variant

One entity-bound catalog; cannot coexist with a whole-model variant plan.

fixed_variant_plan

Immutable fixed model identities realized by a backend at construction.

model_file

primary_entity

terrain

visual_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.

entity_assets: tuple[SceneEntitySpec, ...] = ()

Physical sources, distinct from the task-owned logical entity selectors.

entity_variant: EntityVariantBinding | None = None

One entity-bound catalog; cannot coexist with a whole-model variant plan.

primary_entity: str | None = None
materialize_entities()[source]

Convert task/Hydra physical records without importing a physics SDK.

Return type:

None

__init__(model_file='', fragment_files=<factory>, terrain=None, entities=<factory>, visual_model_file=None, default_keyframe_name=None, fixed_variant_plan=None, entity_assets=(), entity_variant=None, primary_entity=None)
Parameters:
default_keyframe_name: str | None = None

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

fixed_variant_plan: FixedVariantPlan | None = None

Immutable fixed model identities realized by a backend at construction.

validate_composition(num_envs=None)[source]
Parameters:

num_envs (int | None)

Return type:

None

visual_model_file: str | None = None