YAML: sceneclassSceneConfig

Scene

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

sourcefastsim/configs/scene_cfg.py

Top-level fields BaseConfig: Ground & Environment (base_config)ObjectConfig: Scene Objects (object_cfg_dict)RobotConfig: Robot (robot_cfg_dict)SensorConfig: Sensor (sensor_cfg_dict)LightConfig: Light (light_cfg_dict)Example

Top-level Fields8

Field	Type	Required	Default	Description / Constraints
`name`	string	optional	—	Scene name
`position`	list[3]	optional	`[0.0, 0.0, 0.0]`	Scene base position [x, y, z] in meters
`rotation`	list[4]	optional	`[1.0, 0.0, 0.0, 0.0]`	Scene base rotation as quaternion [w, x, y, z] ⚠Must be a unit quaternion: w²+x²+y²+z²=1
`base_config`	BaseConfig	optional	—	Ground / environment config; type selected via the stereotype field
`robot_cfg_dict`	dict[str, RobotConfig]	optional	`{}`	Robot config dict; key is instance name, accessed via SceneManager.get_robot(name)
`object_cfg_dict`	dict[str, ObjectConfig]	optional	`{}`	Scene object config dict; key is instance name
`sensor_cfg_dict`	dict[str, SensorConfig]	optional	`{}`	Sensor config dict; key is instance name
`light_cfg_dict`	dict[str, LightConfig]	optional	`{}`	Light source config dict; key is instance name

BaseConfig: Ground & Environment (base_config)

Each scene has exactly one Base that defines the physics ground or loads a full environment USD. The concrete subclass is selected by stereotype.

classGroundPlaneBaseConfigstereotypeground_planeextendsBaseConfig, SpawnableConfigfastsim/unisim/bases/models/ground_plane_base.py

Field	Type	Required	Default	Description / Constraints
`ground_plane_size`	list[2]	optional	`[10.0, 10.0]`	Ground visual size [x, y] in meters; physics extends infinitely ⚠Each value must be > 0

Inherited fromSpawnableConfig5

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"ground_plane"
`name`	string	required	—	Entity name ⚠1-100 chars, no / or \
`prim_path`	string	optional	—	USD prim path ⚠Must start with /
`position`	list[3]	optional	`[0.0, 0.0, 0.0]`	Position [x, y, z] in meters
`rotation`	list[4]	optional	`[1.0, 0.0, 0.0, 0.0]`	Rotation (quaternion [w, x, y, z])

classUsdBaseConfigstereotypeusdextendsBaseConfig, SpawnableConfigfastsim/unisim/bases/models/usd_base.py

Field	Type	Required	Default	Description / Constraints
`asset_path`	string	required	—	Environment USD file path (supports root_key:// protocol)
`source`	string	required	`local`	Asset source ⚠local / remote / platform

Inherited fromSpawnableConfig5

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"usd"
`name`	string	required	—	Entity name
`prim_path`	string	optional	—	USD prim path
`position`	list[3]	optional	`[0.0, 0.0, 0.0]`	Position [x, y, z]
`rotation`	list[4]	optional	`[1.0, 0.0, 0.0, 0.0]`	Rotation (quaternion)

classEmptyBaseConfigstereotypeemptyextendsBaseConfig, SpawnableConfigfastsim/unisim/bases/models/empty_base.py

Inherited fromSpawnableConfig4

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"empty" — for fully custom physics scenes
`name`	string	required	—	Entity name
`position`	list[3]	optional	`[0.0, 0.0, 0.0]`	Position
`rotation`	list[4]	optional	`[1.0, 0.0, 0.0, 0.0]`	Rotation

classMeshBaseConfigstereotypemeshextendsBaseConfig, SpawnableConfigfastsim/unisim/bases/models/mesh_base.py

Field	Type	Required	Default	Description / Constraints
`asset_path`	string	required	—	Mesh file path (supports root_key:// protocol)
`source`	string	required	`local`	Asset source ⚠local / remote / platform
`scale`	list[3]	optional	`[1.0, 1.0, 1.0]`	Mesh scale [x, y, z]
`enable_collision`	bool	optional	`true`	Whether the mesh participates in collisions; false = visual-only background

Inherited fromSpawnableConfig4

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"mesh"
`name`	string	required	—	Entity name
`position`	list[3]	optional	`[0.0, 0.0, 0.0]`	Position
`rotation`	list[4]	optional	`[1.0, 0.0, 0.0, 0.0]`	Rotation

ObjectConfig: Scene Objects (object_cfg_dict)

classRigidObjectConfigstereotyperigidextendsObjectConfig, SpawnableConfigfastsim/unisim/objects/models/rigid_object.py

Field	Type	Required	Default	Description / Constraints
`mass`	float	optional	`null`	Object mass in kg; takes priority over density when both set
`density`	float	optional	`1000`	Object density in kg/m³; used only when mass is null
`disable_gravity`	bool	optional	`false`	Whether to disable gravity
`kinematic_enabled`	bool	optional	`false`	Enable kinematic mode (not affected by forces)
`disable_rigid_body`	bool	optional	`false`	Disable rigid body properties
`linear_damping`	float	optional	`null`	Linear damping
`angular_damping`	float	optional	`null`	Angular damping
`static_friction`	float	optional	`0.8`	Static friction coefficient (overrides any friction material baked in source USD)
`dynamic_friction`	float	optional	`0.8`	Dynamic friction coefficient (overrides any friction material baked in source USD)
`restitution`	float	optional	`0.0`	Restitution coefficient (0 = no bounce, 1 = perfectly elastic)
`enable_collision`	bool	required	`true`	Enable collision
`primitive_type`	enum	optional	—	Primitive shape type (required when source is primitive) ⚠box / sphere / cylinder / cone / capsule / disk
`primitive_radius`	float	optional	—	Primitive radius (sphere / cylinder / cone / capsule)
`primitive_size`	list[3]	optional	—	Primitive size [x, y, z] (box)
`primitive_height`	float	optional	—	Primitive height (cylinder / cone / capsule)
`primitive_axis`	string	optional	`Z`	Primitive axis (cylinder / cone / capsule) ⚠X / Y / Z
`primitive_color`	list[3]	optional	`null`	RGB diffuse color, each component in [0, 1]

Inherited fromObjectConfig4

Field	Type	Required	Default	Description / Constraints
`source`	string	required	`primitive`	Asset source ⚠local / remote / platform / primitive
`asset_path`	string	optional	—	USD asset path (required when source is local/remote)
`scale`	list[3]	optional	`[1, 1, 1]`	Scale [x, y, z]
`axis_y_up`	bool	optional	`false`	Whether the asset uses Y-up axis

Inherited fromSpawnableConfig5

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"rigid"
`name`	string	required	—	Entity name
`prim_path`	string	optional	—	USD prim path
`position`	list[3]	optional	`[0.0, 0.0, 0.0]`	Position [x, y, z]
`rotation`	list[4]	optional	`[1.0, 0.0, 0.0, 0.0]`	Rotation (quaternion)

classArticulatedObjectConfigstereotypearticulatedextendsObjectConfig, ArticulationConfig, SpawnableConfigfastsim/unisim/objects/models/articulated_object.py

Inherited fromArticulationConfig3

Field	Type	Required	Default	Description / Constraints
`actuator_cfg_dict`	dict[str, ActuatorConfig]	required	`{}`	Actuator config dict (joint drive groups)
`init_joint_position`	dict[str, float]	optional	`{}`	Initial joint positions
`init_joint_velocity`	dict[str, float]	optional	`{}`	Initial joint velocities

Inherited fromObjectConfig3

Field	Type	Required	Default	Description / Constraints
`source`	string	required	`local`	Asset source ⚠local / remote / platform
`asset_path`	string	required	—	USD asset path
`scale`	list[3]	optional	`[1, 1, 1]`	Scale

Inherited fromSpawnableConfig4

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"articulated"
`name`	string	required	—	Entity name
`position`	list[3]	optional	`[0.0, 0.0, 0.0]`	Position
`rotation`	list[4]	optional	`[1.0, 0.0, 0.0, 0.0]`	Rotation

classSoftObjectConfigstereotypesoftextendsObjectConfig, SpawnableConfigfastsim/unisim/objects/models/soft_object.py

Field	Type	Required	Default	Description / Constraints
`mass`	float	required	`0.1`	Total object mass in kg
`density`	float	required	`1000`	Object density in kg/m³
`youngs_modulus`	float	optional	`10000`	Young's modulus for volumetric soft body (Pa)
`poissons_ratio`	float	optional	`0.3`	Poisson's ratio, lateral-to-axial strain ratio ⚠Must be in [0, 0.5)
`damping`	float	optional	`0.01`	Global damping coefficient
`dynamic_friction`	float	optional	`0.5`	Dynamic friction coefficient
`static_friction`	float	optional	`0.5`	Static friction coefficient
`stretch_stiffness`	float	optional	`10000`	Stretch stiffness (N/m), cloth only
`shear_stiffness`	float	optional	`1000`	Shear stiffness (N/m), cloth only
`bending_stiffness`	float	optional	`10.0`	Bending stiffness (N·m), cloth only
`pressure`	float	optional	`0.0`	Internal pressure (Pa) for inflatable bodies; 0 disables
`soft_body_type`	enum	optional	`volumetric`	Soft-body model type hint for the simulator ⚠cloth / volumetric / inflatable
`simulation_hex_mesh`	bool	optional	`false`	Use hexahedral mesh for volumetric FEM; defaults to tetrahedral
`particle_contact_offset`	float	optional	`0.02`	Particle contact detection radius (meters)
`solver_position_iterations`	int	optional	`16`	Position-projection iterations per step ⚠>= 1
`enable_collision`	bool	required	`true`	Enable collision with other objects
`self_collision`	bool	optional	`false`	Enable self-collision within the soft body
`disable_gravity`	bool	optional	`false`	Disable gravity for the soft body

Inherited fromObjectConfig4

Field	Type	Required	Default	Description / Constraints
`source`	string	required	`primitive`	Asset source ⚠local / remote / platform / primitive
`asset_path`	string	optional	—	USD asset path
`scale`	list[3]	optional	`[1, 1, 1]`	Scale
`axis_y_up`	bool	optional	`false`	Asset uses Y-up axis

Inherited fromSpawnableConfig5

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"soft"
`name`	string	required	—	Entity name
`prim_path`	string	optional	—	USD prim path
`position`	list[3]	optional	`[0.0, 0.0, 0.0]`	Position
`rotation`	list[4]	optional	`[1.0, 0.0, 0.0, 0.0]`	Rotation

RobotConfig: Robot (robot_cfg_dict)

PlannerConfig is a nested config extended by user-defined planner implementations; base robot fields are in RobotConfig, concrete subclass selected by stereotype.

classGeneralRobotConfigstereotypegeneral_robotextendsRobotConfig, ArticulationConfig, SpawnableConfigfastsim/unisim/robots/models/general_robot.py

Inherited fromRobotConfig4

Field	Type	Required	Default	Description / Constraints
`ee_link_name`	string	optional	—	End-effector link name (shorthand for single-arm; use modules.arms for multi-arm)
`ik_joint_names`	list[str]	optional	—	Joint names used for IK (defaults to all movable joints)
`use_planner`	bool	optional	`false`	Whether to attach a motion planner (e.g. CuRobo / OMPL)
`planner_cfg`	PlannerConfig	optional	—	Planner configuration, active when use_planner is true

Inherited fromArticulationConfig6

Field	Type	Required	Default	Description / Constraints
`asset_path`	string	required	—	Robot USD asset path
`source`	string	required	`local`	Asset source ⚠local / remote / platform
`actuator_cfg_dict`	dict[str, ActuatorConfig]	required	`{}`	Actuator config dict
`init_joint_position`	dict[str, float]	optional	`{}`	Initial joint positions
`init_joint_velocity`	dict[str, float]	optional	`{}`	Initial joint velocities
`scale`	list[3]	optional	`[1, 1, 1]`	Scale

Inherited fromSpawnableConfig4

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"general_robot"
`name`	string	required	—	Entity name
`position`	list[3]	optional	`[0.0, 0.0, 0.0]`	Position
`rotation`	list[4]	optional	`[1.0, 0.0, 0.0, 0.0]`	Rotation

classModularRobotConfigstereotypemodular_robotextendsRobotConfig, ArticulationConfig, SpawnableConfigfastsim/unisim/robots/models/modular_robot.py

Field	Type	Required	Default	Description / Constraints
`base_module`	BaseModuleConfig	optional	`null`	Mobile base module configuration
`arm_modules`	dict[str, ArmModuleConfig]	optional	`{}`	Arm module dict; key is arm name (e.g. left_arm, right_arm)
`extra_modules`	dict[str, ExtraModuleConfig]	optional	`{}`	Extra module dict (e.g. lift column, head)

Inherited fromArticulationConfig2

Field	Type	Required	Default	Description / Constraints
`asset_path`	string	required	—	Robot USD asset path
`actuator_cfg_dict`	dict[str, ActuatorConfig]	required	`{}`	Actuator config dict

Inherited fromSpawnableConfig2

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"modular_robot"
`name`	string	required	—	Entity name

classArmModuleConfigfastsim/unisim/robots/models/modules/arm_module.py

Field	Type	Required	Default	Description / Constraints
`arm_actuator_name`	string	required	—	Arm actuator group name (must match key in actuator_cfg_dict)
`ee_link_name`	string	optional	—	End-effector link name for IK, EE pose, and planner
`ee_type`	string	optional	`none`	End-effector type ⚠gripper / dexterous_hand / none
`ee_actuator_name`	string	optional	—	End-effector (gripper/hand) actuator group name
`planner_cfg`	PlannerConfig	optional	—	Per-arm planner config (overrides robot-level planner)
`ee_convention`	string \| list[4]	optional	`z`	EE forward axis convention. String for gripper axis (z / -x / etc.), quaternion [w,x,y,z] for dexterous hand

classBaseModuleConfigfastsim/unisim/robots/models/modules/base_module.py

Field	Type	Required	Default	Description / Constraints
`base_actuator_name`	string	required	—	Base actuator group name
`base_type`	string	optional	`differential`	Base kinematics type ⚠differential / omnidirectional / ackermann / legged
`wheel_separation`	float	optional	`null`	Wheel separation in meters (differential/omnidirectional)
`wheel_radius`	float	optional	`null`	Wheel radius in meters
`locomotion_cfg`	dict	optional	`null`	Legged locomotion controller config (used when base_type is legged); see LeggedLocomotionConfig
`planner_cfg`	PlannerConfig	optional	`null`	Base navigation planner config (e.g. A*+DWA / curobo_mpc_nav)
`virtual_base_link_name`	string	optional	`null`	Virtual base link name (used for planning in virtual base frame, paired with BaseActuatorConfig.virtual_base_link_name)

classExtraModuleConfigfastsim/unisim/robots/models/modules/extra_module.py

Field	Type	Required	Default	Description / Constraints
`actuator_name`	string	required	—	Actuator group name for this module (e.g. lift column, head gimbal)

classPlannerConfigfastsim/configs/scene_cfg.py

Field	Type	Required	Default	Description / Constraints
`name`	string	optional	`default_planner_name`	Planner name
`stereotype`	string	required	—	Planner type ⚠curobo / ompl / custom
`lazy_init`	bool	optional	`false`	Lazy initialization (load on first use)

classCuroboPlannerConfigstereotypecuroboextendsPlannerConfigfastsim/planner/planners/curobo/curobo_planner_cfg.py

Field	Type	Required	Default	Description / Constraints
`device`	string	optional	`cuda`	Compute device ⚠cpu / cuda
`robot_config_file`	string	required	—	Robot URDF/asset path
`world_config_file`	string	optional	—	Collision world config file
`world_config_source`	string	optional	`stage`	Collision world source ⚠stage / config_file
`world_stage_ignore_substrings`	list[str]	optional	`[]`	Path substrings to ignore when building collision world from stage
`world_stage_only_paths`	list[str]	optional	`["/World"]`	Only include these stage paths
`world_stage_reference_prim_path`	string	optional	`null`	Stage reference prim path ⚠Must start with /
`interpolation_dt`	float	optional	`0.0167`	Trajectory interpolation timestep in seconds
`attach_surface_sphere_radius`	float	optional	`0.001`	Attach surface sphere radius
`collision_activation_distance`	float	optional	`0.02`	Collision activation distance in meters
`use_cuda_graph`	bool	optional	`false`	Whether to use CUDA Graph for acceleration
`warmup_enable`	bool	optional	`true`	Run motion_gen.warmup() after MotionGen init. False = skip ~7 warmup plans (slow first plan but good for one-shot data generation; bad for long-running multi-plan loops)
`warmup_js_trajopt`	bool	optional	`true`	Include 3x joint-space trajopt warmups. Set False if you only ever call cartesian planning (FastSim gen_motion_plan does)
`warmup_graph`	bool	optional	`true`	Include graph-search warmup and 1x cartesian-with-graph warmup. Set False if you never plan with enable_graph=True

classOmplPlannerConfigstereotypeomplextendsPlannerConfigfastsim/planner/planners/ompl/ompl_planner_cfg.py

Field	Type	Required	Default	Description / Constraints
`robot_urdf_path`	string	required	—	Robot URDF file path for collision model
`ee_link_name`	string	optional	—	End-effector link name
`planning_algorithm`	string	optional	`RRTConnect`	Planning algorithm ⚠RRTConnect / RRTstar / PRM / BITstar / LazyPRM / KPIECE / EST / SBL
`planning_time`	float	optional	`5.0`	Planning time limit in seconds
`interpolation_resolution`	float	optional	`0.01`	Trajectory interpolation resolution
`collision_check_resolution`	float	optional	`0.01`	Collision check resolution
`range`	float	optional	`0.0`	RRT range; 0 = auto
`simplify_path`	bool	optional	`true`	Whether to simplify the planned path
`num_ik_samples`	int	optional	`100`	Number of IK samples

classNavigationPlannerConfigextendsPlannerConfigfastsim/planner/navigation_planner_cfg.py

Field	Type	Required	Default	Description / Constraints
`map_resolution`	float	optional	`0.05`	Occupancy grid resolution (m/cell)
`map_width`	float	optional	`20.0`	Map width (m)
`map_height`	float	optional	`20.0`	Map height (m)
`map_origin_x`	float	required	`-10.0`	Map origin X in world frame (m)
`map_origin_y`	float	optional	`-10.0`	Map origin Y in world frame (m)
`robot_radius`	float	required	`0.2`	Robot collision radius (m)
`obstacle_radius`	float	optional	`null`	Per-obstacle stamping radius; null falls back to robot_radius
`astar_resolution`	float	optional	`0.1`	A* grid resolution (m), can be coarser than map_resolution
`simplify_path`	bool	optional	`true`	Shortcut A* paths with line-of-sight pruning
`path_waypoint_spacing`	float	optional	`0.75`	Max spacing between simplified path waypoints (m); <= 0 disables
`obstacle_ignore_substrings`	list[str]	optional	`[]`	Ignore objects whose names contain these substrings

classAStarDWAPlannerConfigstereotypeastar_dwaextendsNavigationPlannerConfig, PlannerConfigfastsim/planner/planners/astar_dwa/astar_dwa_planner_cfg.py

Field	Type	Required	Default	Description / Constraints
`max_speed`	float	required	`0.5`	DWA max linear speed (m/s)
`min_speed`	float	required	`-0.2`	DWA min linear speed (negative = reverse)
`max_yaw_rate`	float	required	`1.0`	DWA max yaw rate (rad/s)
`max_accel`	float	required	`0.3`	DWA max linear acceleration (m/s²)
`max_delta_yaw_rate`	float	required	`1.0`	DWA max yaw rate change (rad/s²)
`v_resolution`	float	required	`0.02`	Linear velocity sampling resolution (m/s)
`yaw_rate_resolution`	float	required	`0.05`	Yaw rate sampling resolution (rad/s)
`dt`	float	required	`0.1`	DWA prediction time step (s)
`predict_time`	float	required	`2.0`	DWA prediction horizon (s)
`to_goal_cost_gain`	float	required	`0.3`	DWA heading-to-goal cost weight
`speed_cost_gain`	float	required	`1.0`	DWA speed cost weight
`obstacle_cost_gain`	float	required	`1.0`	DWA obstacle avoidance cost weight
`path_cost_gain`	float	required	`0.5`	DWA global path following cost weight
`goal_pos_tolerance`	float	required	`0.1`	Goal position tolerance (m)
`goal_angle_tolerance`	float	required	`0.2`	Goal angle tolerance (rad)

Inherited fromNavigationPlannerConfig3

Field	Type	Required	Default	Description / Constraints
`map_resolution`	float	optional	`0.05`	Grid resolution
`robot_radius`	float	required	`0.2`	Robot collision radius
`obstacle_ignore_substrings`	list[str]	optional	`[]`	Obstacle ignore substrings

classCuroboMpcNavigationPlannerConfigstereotypecurobo_mpc_navextendsNavigationPlannerConfig, PlannerConfigfastsim/planner/planners/curobo_mpc_nav/curobo_mpc_nav_planner_cfg.py

Field	Type	Required	Default	Description / Constraints
`device`	string	optional	`cuda`	Torch device for MPC solver
`robot_config_file`	string	required	—	Path to base-only curobo robot YAML (asset:// URI accepted)
`world_stage_only_paths`	list[str]	optional	`["/World"]`	Stage subtrees ingested as MPC obstacles
`world_stage_ignore_substrings`	list[str]	optional	`[]`	Prim-name substrings to skip during stage ingestion
`world_stage_reference_prim_path`	string	optional	`null`	Robot base prim path; used for relative pose framing
`interpolation_dt`	float	optional	`0.0167`	MPC integration step (s)
`collision_activation_distance`	float	optional	`0.01`	CuRobo collision margin (m)
`use_mppi`	bool	optional	`true`	Enable MPPI sampling sub-solver
`use_lbfgs`	bool	optional	`false`	Enable L-BFGS sub-solver
`use_cuda_graph`	bool	optional	`false`	Enable CUDA graph capture
`mpc_step_max_attempts`	int	optional	`1`	Per-tick MPC step max attempts
`waypoint_reach_radius`	float	optional	`0.15`	Position tolerance for translate sub-poses (m)
`angle_reach_tolerance`	float	optional	`0.05`	Yaw tolerance for rotate sub-poses (rad, ~2.9°)
`replan_period_s`	float	optional	`1.0`	Legacy field; no longer used (cached waypoints)
`goal_pos_tolerance`	float	required	`0.1`	Goal position tolerance (m)
`goal_angle_tolerance`	float	required	`0.2`	Goal angle tolerance (rad)
`base_joint_names`	list[str]	required	`["joint_mobile_forward", "joint_mobile_side", "joint_mobile_yaw"]`	The 3 base joints the planner writes position targets to

SensorConfig: Sensor (sensor_cfg_dict)

classCameraConfigstereotypecameraextendsSensorConfig, SpawnableConfigfastsim/unisim/sensors/models/camera.py

Field	Type	Required	Default	Description / Constraints
`data_types`	list[str]	required	`["rgb"]`	List of data types to collect ⚠rgb / depth / semantic_segmentation / instance_segmentation / normals
`width`	int	required	`640`	Image width in pixels
`height`	int	required	`480`	Image height in pixels
`camera_model`	enum	optional	`pinhole`	Camera model type ⚠pinhole / fisheye
`fix_camera`	bool	optional	`false`	Whether to fix camera pose
`clip_range`	list[2]	optional	`[0.001, 1000.0]`	Depth clip range [near, far] in meters
`focal_length`	float	optional	`24.0`	Focal length in mm
`focus_distance`	float	optional	`400.0`	Focus distance
`f_stop`	float	optional	`0.0`	F-stop value (0 = disable depth of field)
`horizontal_aperture`	float	optional	`20.955`	Horizontal aperture
`vertical_aperture`	float	optional	`null`	Vertical aperture (null = auto-calculated)
`horizontal_aperture_offset`	float	optional	`0.0`	Horizontal aperture offset
`vertical_aperture_offset`	float	optional	`0.0`	Vertical aperture offset
`attach_to`	AttachToConfig	optional	—	Attach configuration (mount to an entity or link)
`look_at`	LookAtConfig	optional	—	Look-at configuration (point toward a target or coordinate)
`convention`	enum	optional	`world`	Coordinate convention ⚠world (+X:forward +Z:up) / opengl (-Z:forward +Y:up) / ros (+Z:forward -Y:up)

Inherited fromSpawnableConfig5

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"camera"
`name`	string	required	—	Sensor name
`prim_path`	string	optional	—	USD prim path
`position`	list[3]	optional	`[0.0, 0.0, 0.0]`	Position [x, y, z]
`rotation`	list[4]	optional	`[1.0, 0.0, 0.0, 0.0]`	Rotation (quaternion)

LightConfig: Light (light_cfg_dict)

classGeneralLightConfigstereotypegeneral_lightextendsLightConfig, SpawnableConfigfastsim/unisim/lights/models/general_light.py

Field	Type	Required	Default	Description / Constraints
`light_type`	enum	required	—	Light type ⚠distant / sphere / disk
`intensity`	float	optional	`1.0`	Light intensity ⚠>= 0
`exposure`	float	optional	`0.0`	Exposure value
`color`	list[3]	optional	`[1.0, 1.0, 1.0]`	Color [r, g, b] in 0–1 range
`visible`	bool	optional	`true`	Whether the light mesh itself is visible in the render
`enable_color_temperature`	bool	optional	`false`	Enable color temperature (overrides color when enabled)
`color_temperature`	float	optional	`6500`	Color temperature in Kelvin
`normalize`	bool	optional	`false`	Whether to normalize light intensity
`radius`	float	optional	—	Light radius (sphere type) ⚠> 0
`angle`	float	optional	—	Light angle (distant type)
`texture_file`	string	optional	—	Texture file path

Inherited fromSpawnableConfig4

Field	Type	Required	Default	Description / Constraints
`stereotype`	string	required	—	"general_light"
`name`	string	required	—	Light name
`position`	list[3]	optional	`[0.0, 0.0, 0.0]`	Position
`rotation`	list[4]	optional	`[1.0, 0.0, 0.0, 0.0]`	Rotation

Example

scene:
  name: pick_and_place_scene
  position: [0.0, 0.0, 0.0]
  rotation: [1.0, 0.0, 0.0, 0.0]

  base_config:
    stereotype: ground_plane
    ground_plane_size: [10.0, 10.0]

  robot_cfg_dict:
    arm:
      stereotype: modular_robot
      asset_path: assets://robots/ur5_with_gripper.usd
      use_planner: true
      actuator_cfg_dict:
        arm:
          joint_names_expr: ["joint_*"]
          stiffness: 50000.0
          damping: 800.0
        gripper:
          stereotype: gripper
          joint_names_expr: ["finger_*"]
      arm_modules:
        main_arm:
          arm_actuator_name: arm
          ee_link_name: tool0
          ee_type: gripper
          ee_actuator_name: gripper

  object_cfg_dict:
    cube:
      stereotype: rigid
      asset_path: assets://objects/cube_red.usd
      mass: 0.2
      enable_gravity: true
    cloth:
      stereotype: soft
      asset_path: assets://objects/cloth.usd
      soft_body_type: cloth
      mass: 0.05
      stretch_stiffness: 8000
      bending_stiffness: 5.0

  sensor_cfg_dict:
    wrist_cam:
      stereotype: camera
      width: 640
      height: 480
      data_types: [rgb, depth]
      attach_to: arm
      convention: ros

  light_cfg_dict:
    main_light:
      stereotype: general_light
      light_type: distant
      intensity: 3000
      color: [1.0, 1.0, 1.0]

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