Simulation blueprint
app dict (required)
All settings relating to the simulation app that is launched.
headless boolean (required)
Whether to run the simulation in headless mode or not.
renderer string (required)
Specify which renderer to use in the simulation.
allowed: ['RayTracedLighting', 'PathTracing']
livestream boolean
Whether to enable a livestream server for streaming clients to connect to.
default: False
world dict (required)
All settings related to the world in the simulation.
stage_units_in_meters float (required)
The size in meters of one unit length in the simulation.
physics_dt float (required)
Physics timestep in seconds.
rendering_dt float (required)
Render timestep in seconds.
scene dict (required)
All settings related to the scene that will take place in the simulation.
environment dict (required)
The environment of the scene.
usd_path string (required)
Path to a .usd file containing the environment.
prim_path string (required)
Path of the environment prim in the simulation.
robots list[dict] (required)
A list of all robots that will spawn into the environment.
unique_on: name
list_item:
name string (required)
The name of the robot, must be unique.
usd_path string (required)
Path to a .usd file containing the robot.
prim_path string (required)
Path to the robot prim in the simulation.
position list[float] (required)
The position of the robot (relative to the parent prim) when spawned.
minlength: 3
maxlength: 3
orientation list[float] (required)
The orientation of the robot (relative to the parent prim) when spawned.
minlength: 4
maxlength: 4
plugins list[dict]
A list of optional plugins to load on the robot.
list_item:
class string (required)
The name of the custom plugin class.
params dict
The parameters to pass to the plugin, if required.
robot_plugins list[dict]
A list of all user defined plugins to be used in the simulation.
list_item:
filepath string (required)
Path to the .py file that defines the custom plugins.
classes list[string] (required)
A list of all plugins to import from the .py file.
no_duplicates: True