YAML: generalclassGeneralConfig

General

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

sourcefastsim/configs/general_cfg.py

Top-level Fields15

Field	Type	Required	Default	Description / Constraints
`scan_project`	bool	optional	`false`	Scan user project on startup to auto-register custom stereotypes defined via @stereotype (executed by ProjectLoader.scan_project)
`root_paths`	dict[str, str]	optional	`{}`	Asset root path mapping; keys become root_key:// protocol prefixes, values are local absolute directory paths ⚠Each path must be an existing local directory; validate_root_paths() raises on startup if a path is missing
`silenced_loggers`	list[str]	optional	`["isaaclab", "omni", "carb", "curobo"]`	List of third-party logger names to silence
`log_to_terminal`	bool	optional	`true`	Whether to output logs to the terminal
`log_terminal_level`	string	optional	`DEBUG`	Terminal log output level ⚠DEBUG / INFO / WARNING / ERROR / CRITICAL
`log_output_dir`	string	optional	`null`	Log file output directory; null disables file logging
`log_output_name`	string	optional	`null`	Log file name (without extension); null for auto-generated
`log_file_level`	string	optional	`DEBUG`	File log output level ⚠DEBUG / INFO / WARNING / ERROR / CRITICAL
`log_file_format`	string	optional	`text`	Log file format ⚠text / json
`log_file_max_size_mb`	float	optional	`10.0`	Maximum log file size in MB before rotation
`log_file_backup_count`	int	optional	`5`	Number of rotated log file backups to retain
`enable_profiling`	bool	optional	`false`	Enable profiling to record time spent in each phase
`profiling_outlier_threshold_ms`	float	optional	`500.0`	Profiling outlier threshold in ms; calls exceeding this are flagged
`cache_dir`	string	optional	`null`	Asset cache directory (for remote/platform assets). null = use JOYSIM_CACHE_DIR env var, fallback to ~/.joysim_cache
`seed`	int	optional	`null`	Global RNG seed (applied to random / numpy / torch / curobo). null = derive from current time; the resolved seed is logged at startup so non-deterministic runs can still be replayed

Example

general:
  scan_project: true
  root_paths:
    assets: /home/user/robot_assets
    datasets: /home/user/datasets
  log_to_terminal: true
  log_terminal_level: INFO
  log_output_dir: logs/
  log_file_level: DEBUG
  log_file_format: text
  log_file_max_size_mb: 10.0
  log_file_backup_count: 5
  enable_profiling: false

# 使用效果 / Usage:
# assets://robots/ur5.usd  → /home/user/robot_assets/robots/ur5.usd
# datasets://runs/run001   → /home/user/datasets/runs/run001

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