simulo.run

Run a Simulo scenario.

Args:

• scenario_class — Scenario class to instantiate and run
• device — Device for simulation (“cuda” or “cpu”)
• dt — Physics timestep in seconds
• headless — Run without visualization
• seed — Random seed
• max_steps — Maximum number of steps (None = run indefinitely)
• num_envs — Number of parallel environments (default: 1). When num_envs > 1, robots added to the scene are automatically replicated across all environments for parallel simulation.
• env_spacing — Spacing between environment origins in meters (default: 2.0)
• enable_cameras — Enable camera rendering for Camera sensors (default: True)
• viewstream — Enable viewport streaming. Pass True for defaults or a ViewStreamConfig for explicit control.

Real usage, from the shipped scene app’s job body — drives a Scenario subclass end to end, called INSIDE the job (never at module scope — the identical call at module scope silently does nothing at submit, then launches a real simulation at import time on the worker):

simulo.run(
    SceneScenario,
    device="cuda",
    headless=True,
    max_steps=num_steps,
    num_envs=num_envs,
    env_spacing=2.0,
)

simulo.run(
    scenario_class: Type[Scenario],
    device: str = 'cuda',
    dt: float = 0.01,
    headless: bool = False,
    seed: int = 0,
    max_steps: Optional[int] = None,
    num_envs: int = 1,
    env_spacing: float = 2.0,
    enable_cameras: bool = True,
    viewstream: ViewStreamOption = None,
) -> None