horizonrobotics/embodiedgen/sim-runner

Sim Runner

Unified entry for EmbodiedGen simulation rendering via sim-cli.

When To Use

Use this skill when users want to:

• Load a generated layout.json into simulation.
• Render interactive scene videos (foreground + 3DGS background composition).
• Adjust camera, rendering, or simulation-step parameters.
• Include robot grasp trajectory rendering with --insert_robot.

Routing Rule (Core)

Use sim-cli when the input is an existing layout result (especially layout.json) and the target output is simulation visualization (e.g., Iscene.mp4), not generation of new assets/backgrounds/layouts.

Pre-checks

1. Run commands from the repository root.
2. Confirm the active environment is embodiedgen.
3. Confirm input --layout_path exists and points to a valid layout output.
4. Ensure referenced background and asset files in the layout directory are present.
5. If CLI commands are unavailable, run pip install -e . to register entrypoints.

Standard Command Template

sim-cli \
  --layout_path "outputs/layouts_gen/task_0000/layout.json" \
  --output_dir "outputs/layouts_gen/task_0000/sapien_render" \
  --insert_robot

Common Parameters

• --layout_path: input layout file path.
• --output_dir: output directory for rendered video.
• --insert_robot: render robot grasp actions for manipulated objects.
• --sim_freq --control_freq --sim_step: simulation/control timing settings.
• --render_interval: render every N simulation steps.
• --num_cameras --camera_radius --camera_height --fovy_deg: camera configuration.
• --image_hw: output frame size.
• --render_keys: render channels (requires Foreground for final compositing).
• --ray_tracing: enable/disable ray tracing backend.
• --device: rendering device (e.g., cuda).

Output Conventions

Primary output:

• <output_dir>/Iscene.mp4

Typical input dependencies resolved from layout directory:

• layout.json
• background gs_model.ply
• per-object assets referenced by layout

Runtime Expectations

• Runtime depends on sim_step, render_interval, camera count, and ray-tracing mode.
• Enabling --insert_robot increases render time due to grasp-action rollout.

Failure Handling and Retry

1. Missing file errors: verify layout-relative asset/background paths exist.
2. GPU memory pressure: reduce --num_cameras, --image_hw, or disable heavy settings.
3. Empty/invalid video output: ensure Foreground is included in --render_keys.
4. Slow runtime: reduce --sim_step or increase --render_interval.