horizonrobotics/embodiedgen/layout-creator

Layout Creator

Unified entry for EmbodiedGen interactive layout generation via layout-cli.

When To Use

Use this skill when users want to:

• Generate interactive 3D scenes from task descriptions.
• Batch-generate layouts from a task list file.
• Build simulator-ready layout outputs (layout.json, renders) with optional robot insertion.
• Tune generation quality and stability via retry and seed settings.

Routing Rule (Core)

Use layout-cli when the user input is task-level natural language descriptions (e.g., "put the pen in the mug") and the target output is an interactive layout scene, not standalone assets or standalone background scenes.

Pre-checks

1. Run commands from the repository root.
2. Confirm the active environment is embodiedgen.
3. Confirm background scene list file exists and is readable (via --bg_list).
4. If CLI commands are unavailable, run pip install -e . to register entrypoints.

Standard Command Templates

1) Generate layouts from inline task descriptions

layout-cli \
  --task_descs "Place the pen in the mug on the desk" "Put the fruit on the table on the plate" \
  --bg_list "outputs/example_gen_scenes/scene_part_list.txt" \
  --output_root "outputs/layouts_gen" \
  --insert_robot

2) Batch generation from task list file (background run)

layout-cli \
  --task_descs "apps/assets/example_layout/task_list.txt" \
  --bg_list "outputs/example_gen_scenes/scene_part_list.txt" \
  --n_image_retry 4 --n_asset_retry 3 --n_pipe_retry 3 \
  --output_root "outputs/layouts_gens" \
  --insert_robot > layouts_gens.log 2>&1 &

Common Parameters

• --task_descs: task descriptions or a task-list text file path.
• --output_root: root output directory.
• --bg_list: background scene list file (scene retrieval pool).
• --insert_robot: include robot pose in layout generation/simulation output.
• --output_iscene: export composed scene mesh (Iscene.glb).
• --n_image_retry --n_asset_retry --n_pipe_retry: retry controls for text-to-3D subpipeline.
• --seed_img --seed_3d --seed_layout: reproducibility controls.
• --n_img_sample --text_guidance_scale --img_denoise_step: text-to-image / asset-generation controls.
• --keep_intermediate: keep intermediate files from generation substeps.

Output Conventions

Outputs are organized by task index:

• <output_root>/task_0000/layout.json
• <output_root>/task_0000/scene_tree.jpg
• <output_root>/task_0000/background/
• <output_root>/task_0000/asset3d/
• Optional: <output_root>/task_0000/Iscene.glb (when --output_iscene is enabled)

Runtime Expectations

• Typical generation time is around 30 minutes per task (depends on retries/GPU/background matching).
• Batch jobs should use background execution (nohup) with log redirection.

Failure Handling and Retry

1. Missing background candidate: verify --bg_list path and referenced scene directories.
2. OOM or GPU pressure: reduce concurrency and lower retry/sample settings.
3. Poor asset/layout quality: increase retry counts or refine task text.
4. Missing outputs: verify output permissions and use absolute paths.