YAML: extensionclassExtensionConfig

Extension

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.

sourcefastsim/configs/extension_cfg.py

Top-level fields ExtensionBaseConfig: Common Fields (all extensions)DataCollectorConfig: Observation Collection (stereotype: data_collect)RecorderConfig: Recording & Export (stereotype: record)ReplayConfig: Trajectory Replay (stereotype: replay)ServerConfig: REST API Server (stereotype: server)BenchmarkConfig: Episode Evaluation (stereotype: benchmark)Example

Top-level Fields1

Field	Type	Required	Default	Description / Constraints
`extension_cfg_dict`	dict[str, ExtensionBaseConfig]	optional	`{}`	Extension config dict; key is instance name (also the unique runtime lookup key), value is the extension config object ⚠Enabled in declaration order; data_collect must be declared before record and benchmark

ExtensionBaseConfig: Common Fields (all extensions)

classExtensionBaseConfigfastsim/extensions/extension_cfg.py

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	Extension type (data_collect / record / replay / server / benchmark)
`enable`	bool	optional	`true`	Whether to auto-call enable(sim) on simulation startup; set false to defer manual activation

DataCollectorConfig: Observation Collection (stereotype: data_collect)

Registers multiple observers, each collecting a specific data type from the scene. Observations are consumed by the record / benchmark extensions.

classDataCollectorConfigstereotypedata_collectfastsim/extensions/data_collect/data_collector_cfg.py

Field	Type	Required	Default	Description / Constraints
`observer_cfgs`	list[ObserverConfig]	optional	`[]`	List of observers to register; each typed by stereotype

classRobotObserverConfigstereotyperobot_observerfastsim/extensions/data_collect/observer_cfg.py

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"robot_observer"
`name`	string	required	—	Robot instance name (matches key in scene.robot_cfg_dict)
`observe_joint_positions`	bool	optional	`false`	Collect joint positions
`observe_ee_pose`	bool	optional	`false`	Collect end-effector pose
`observe_gripper_state`	bool	optional	`false`	Collect gripper state (opening degree)

classSensorObserverConfigstereotypesensor_observerfastsim/extensions/data_collect/observer_cfg.py

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"sensor_observer"
`name`	string	required	—	Sensor instance name (matches key in scene.sensor_cfg_dict)
`observe_rgb`	bool	optional	`false`	Collect RGB image
`observe_depth`	bool	optional	`false`	Collect depth map
`observe_intrinsic_matrix`	bool	optional	`false`	Collect camera intrinsic matrix
`observe_extrinsic_matrix`	bool	optional	`false`	Collect camera extrinsic matrix

classObjectObserverConfigstereotypeobject_observerfastsim/extensions/data_collect/observer_cfg.py

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"object_observer"
`name`	string	required	—	Object instance name (matches key in scene.object_cfg_dict)
`observe_position`	bool	optional	`false`	Collect object position
`observe_rotation`	bool	optional	`false`	Collect object rotation
`observe_scale`	bool	optional	`false`	Collect object scale

classTaskObserverConfigstereotypetask_observerfastsim/extensions/data_collect/observer_cfg.py

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"task_observer"
`name`	string	required	—	Task instance name

RecorderConfig: Recording & Export (stereotype: record)

Depends on a data_collect extension; asynchronously writes per-frame observations to disk, then post-processes on termination (HDF5, video, etc.).

classRecorderConfigstereotyperecordfastsim/extensions/record/recorder_cfg.py

Field	Type	Required	Default	Description / Constraints
`backend_root_path`	string	required	—	Root directory for recording output (supports root_key:// paths)
`record_backend`	string	optional	`lfs`	Storage backend type
`record_fps`	int	optional	`30`	Recording frame rate (used for frame throttling)
`postprocess_list`	list[str]	optional	`[]`	Post-processing types to run on termination ⚠hdf5 / video / png_depth / preview_video
`use_recorder_step`	bool	optional	`false`	Use the recorder's own step counter instead of the global simulation step
`data_collector_name`	string	optional	`data_collect`	DataCollector extension instance name (must match the key in extension_cfg_dict)
`record_observer_names`	list[str]	optional	`[]`	Observer names to record; empty = record all
`record_task_summary`	bool	optional	`false`	Export task_summary.json on termination

ReplayConfig: Trajectory Replay (stereotype: replay)

Reads a trajectory from record.h5 and drives entities in simulation to replay it. Additional cameras (ReplayCameraConfig) can be added for multi-angle recording.

classReplayConfigstereotypereplayfastsim/extensions/replay/replay_cfg.py

Field	Type	Required	Default	Description / Constraints
`hdf5_path`	string	required	—	Path to record.h5 (supports root_key:// paths)
`scene_cfg_path`	string	optional	—	Scene config file path to use during replay
`spawnable_names`	list[str]	optional	`[]`	Entity names to load; empty = load all
`replay_camera_cfgs`	list[ReplayCameraConfig]	optional	`[]`	Additional cameras for replay; see ReplayCameraConfig

classReplayCameraConfigfastsim/extensions/replay/replay_cfg.py

Field	Type	Required	Default	Description / Constraints
`width`	int	required	—	Image width in pixels
`height`	int	required	—	Image height in pixels
`position`	list[3]	required	—	Camera position [x, y, z] in meters
`rotation`	list[4]	required	—	Camera rotation as quaternion [w, x, y, z]
`data_types`	list[str]	optional	`["rgb"]`	Data types to collect (same as CameraConfig)

ServerConfig: REST API Server (stereotype: server)

Starts a Flask HTTP server, auto-registering all @apiclass-decorated controller methods as POST /{class}/{method} routes.

classServerConfigstereotypeserverfastsim/extensions/servitize/server_cfg.py

Field	Type	Required	Default	Description / Constraints
`host`	string	optional	`0.0.0.0`	Listen address
`port`	int	optional	`8080`	Listen port ⚠1024–65535
`debug`	bool	optional	`false`	Flask debug mode (disable in production)

BenchmarkConfig: Episode Evaluation (stereotype: benchmark)

Runs user-defined policy evaluation in a separate thread per episode, assessing goal conditions and reporting success rate. Policy class must extend Policy and implement the required interface.

classBenchmarkConfigstereotypebenchmarkfastsim/extensions/benchmark/benchmark_cfg.py

Field	Type	Required	Default	Description / Constraints
`episode_num`	int	required	—	Total number of episodes
`action_frequency`	float	optional	`10.0`	Policy control frequency in Hz
`timeout_per_episode`	float \| null	optional	`null`	Per-episode timeout in seconds; null = no timeout
`goals`	list[GoalConfig]	optional	`[]`	Goal conditions evaluated at the end of each episode
`policy`	PolicyConfig	required	—	Policy config; stereotype specifies the user-defined policy type
`data_collector_name`	string	optional	`data_collect`	DataCollector extension instance name
`required_observer_names`	list[str]	optional	`[]`	Observer names required for the benchmark to run
`terminate_sim_when_finished`	bool	optional	`false`	Whether to terminate the simulation when all episodes complete

classPolicyConfigfastsim/extensions/benchmark/policy.py

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	Policy type; must match the key registered with @stereotype.register_config
`...`	any	optional	—	Any additional fields defined in the user's PolicyConfig subclass, parsed by @configclass

Example

extension:
  extension_cfg_dict:
    my_data_collect:            # ← 键名即运行时实例名
      stereotype: data_collect
      enable: true
      observer_cfgs:
        - stereotype: robot_observer
          name: arm
          observe_joint_positions: true
          observe_ee_pose: true
        - stereotype: sensor_observer
          name: wrist_cam
          observe_rgb: true
          observe_depth: true

    record:
      stereotype: record
      enable: true
      backend_root_path: datasets://runs/run001
      record_fps: 30
      postprocess_list: [hdf5, video]
      data_collector_name: my_data_collect

    server:
      stereotype: server
      enable: false
      host: 0.0.0.0
      port: 8080
      debug: false

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