Configuration Reference

GeneLab configuration is plain Python dataclasses. The CLI mutates these dataclasses before runtime through dotted overrides; task code can construct or clone them directly.

Top-level task shape

Field	Type	Meaning
TaskCfg.name	str	Stable task id registered in TASKS.
TaskCfg.env_name	str	Name of the registered environment.
TaskCfg.robot_name	str	Name of the registered robot.
TaskCfg.env	object	Training/default environment config. Usually a ManagerBasedRlEnvCfg subclass.
TaskCfg.play_env	object | None	Optional play-mode config. genelab play prefers it when present.
TaskCfg.agent	object | None	Runner config. RSL-RL tasks use RslRlOnPolicyRunnerCfg.
TaskCfg.trainable	bool	Informational flag shown by registry views.

Runtime configuration

Dataclass	Important fields
SimulationCfg	vis, gpu, steps, dt, substeps, num_envs
InteractiveSceneCfg	env_spacing, sensors, mouse_interaction, entities, terrain, batch_render, recordings
ManagerBasedEnvCfg	device, simulation, scene, and lightweight enabled flags for core manager groups
ManagerBasedRlEnvCfg	decimation, episode_length_s, seed, robot, actions_cfg, observations_cfg, rewards_cfg, terminations_cfg, commands_cfg, events_cfg, curriculum_cfg, metrics_cfg, bridges_cfg

Override grammar

Any --a.b.c VALUE after a play or train task id becomes an override. Hyphens in option names are converted to underscores.

genelab play GeneLab-Inverted-Pendulum-v0 \
  --env.simulation.dt 0.005 \
  --env.rewards_cfg.pole_upright.weight 4.0

The path is resolved against TaskCfg, so env.* points to task.cfg.env and play_env.* points to task.cfg.play_env.

Shortcut aliases

CLI flag	Play target	Train target
--vis / -v	play_env.simulation.vis=true when play_env exists, else env.simulation.vis=true	env.simulation.vis=true
--gpu	play_env.simulation.gpu=true when play_env exists, else env.simulation.gpu=true	env.simulation.gpu=true
--steps N	play_env.simulation.steps=N when play_env exists, else env.simulation.steps=N	--max_iterations N
--dt X	play_env.simulation.dt=X when play_env exists, else env.simulation.dt=X	env.simulation.dt=X

Type coercion

apply_overrides reads dataclass annotations when available and converts strings to the target type.

Target type	Accepted value
bool	true, false, 1, 0, yes, no, on, off
int	Decimal integer
float	Python float literal
Path	pathlib.Path(value)
list[T]	Comma-separated values coerced as T
tuple[T, ...]	Comma-separated values coerced as T
None	none or null
Other	String fallback

Unknown paths and invalid conversions fail before the simulator starts.

Discovering paths

genelab info GeneLab-Inverted-Pendulum-v0

Copy paths from Overridable cfg paths. This is safer than guessing nested term names by hand.