YAMLConfiguration Reference

Config Docs

FastSim is configuration-driven — declarative config files (YAML / JSON etc.) describe every parameter for the simulator backend, scene, task, and extensions, enabling flexible customization without touching source code. This page covers all top-level config blocks with field descriptions, type constraints, and defaults.

5config blocks
YAML / JSONformat
stereotypedriven variants
Complete config structure
generalsimulationscenetaskextension

Configuration Block Docs

generalGeneralConfig
2 fields

Controls project scanning and asset root path mapping. All root_key:// protocol paths resolve through this block.

  • scan_projectbool
  • root_pathsdict[str, str]
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simulationSimulationConfig
3 fields1 sub-configs

Declares the simulation backend and runtime parameters. stereotype selects the engine; UniSimFactory instantiates the corresponding UniSim subclass.

  • stereotypestring
  • dtfloat
  • intiailize_stepsint
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sceneSceneConfig
8 fields5 sub-configs

Declaratively describes the simulation world: base environment, robots, objects, sensors, and lights. SceneManager instantiates and injects all entities at runtime.

  • namestring
  • positionlist[3]
  • rotationlist[4]
  • base_configBaseConfig
  • +4 more
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taskTaskConfig
4 fields2 sub-configs

Declares a complete task flow: a sequence of actions executed in order, then a set of goal conditions verified at the end.

  • namestring
  • descriptionstring
  • actionslist[ActionConfig]
  • goalslist[GoalConfig]
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extensionExtensionConfig
1 fields6 sub-configs

Declares extension instances via extension_cfg_dict; the key name is the unique runtime identifier. Extensions are enabled in declaration order — data_collect must precede record/benchmark.

  • extension_cfg_dictdict[str, ExtensionBaseConfig]
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