metadata/generation_config.yaml

schema_version: mmw_rf_compiler_main_training_policy_v1
base_config: configs/data_generation/data_gen_v1.0/config_smoke.yaml

towns:
  - Town01
  - Town02
  - Town03
  - Town15

states:
  dynamic_speeds_kmh: [10, 20, 40, 60]

sampling:
  target_per_town_state: 5
  # Coordinate alignment is now fixed and qualification runs show that empty
  # CIR is exceptional. Generate exactly the target count in the first pass.
  # A completed first pass may have a formal shortfall; later rounds generate
  # fresh CARLA geometry for exactly the remaining per-profile deficits.
  candidate_pool_factor: 1.0
  # Close the CARLA geometry pool before any Sionna ray tracing. Full 2 kHz
  # oriented-footprint overlap QA rejects unsafe trajectories, and fresh CARLA
  # candidates are generated until every Town/state bucket has five safe runs.
  carla_trajectory_closure:
    enabled: true
    candidate_factor_per_deficit: 2.0
    max_rounds: 8
    max_no_progress_rounds: 2
  supplement:
    enabled: true
    candidate_factor_per_deficit: 1.0
    max_rounds: 5
    max_no_progress_rounds: 2

main_training:
  profile_weights:
    core: 0.4
    multipath: 0.2
    scattering_mild: 0.2
    scattering_medium: 0.2

vehicles:
  cav_blueprint: vehicle.tesla.model3
  cav_rf_lod_index: 1
  traffic_speed_min_kmh: 8.0
  traffic_speed_max_kmh: 30.0
  background_count_min: 8
  background_count_max: 16
  # Keep traffic inside the same local RF/camera operating region as the CAV.
  # This is especially important for Town15, whose global spawn-point catalogue
  # extends far beyond the compiled central ROI.
  background_rsu_distance_max_m: 120.0
  # Reserve room for up to 1 s of background motion so a vehicle selected at
  # the boundary cannot leave the formal RF/camera range during capture.
  background_rsu_distance_margin_m: 10.0
  # Some maps expose only sparse, map-wide native spawn points. Supplement
  # them from the OpenDRIVE driving-lane graph so every current or future Town
  # can populate the same local RSU region without Town-specific coordinates.
  background_spawn_waypoint_spacing_m: 8.0
  background_count_strict: true
  # Probe-spawn above the sampled road surface, read the blueprint-specific
  # bounding box, then place the vehicle at exact ground contact. This avoids
  # collision rejection when a Town's waypoint Z is below the road mesh.
  vehicle_spawn_probe_lift_m: 3.0
  # Prescribed trajectories do not use online collision avoidance because it
  # would make geometry depend on the simulation tick rate. Instead, derive a
  # route-independent safe spawn distance from the largest compiled vehicle
  # footprint, both actors' speed bounds, and the capture horizon. The extra
  # metre covers mesh/collision-envelope and floating-point differences.
  trajectory_spawn_clearance_margin_m: 1.0
  # Town02's OpenDRIVE waypoint height is below the rendered/collision road
  # surface. Use a pre-spawn downward ray to establish the actual road height,
  # then preserve that surface-to-waypoint offset along each kinematic route.
  ground_alignment_mode: ground_projection
  ground_clearance_tolerance_m: 0.03
  random_seed: 55
  # Keep the dynamic shape topology stable inside a Town/state bucket so the
  # grouped Sionna resident-scene path can actually batch samples.
  fleet_grouping_scope: town_state

acceleration:
  carla:
    workers: 2
    gpu_devices: "0,1"
    shard_strategy: round_robin
  sionna:
    offline_qa:
      enabled: true
      profiles: [core, multipath, scattering_mild, scattering_medium]
      strict_profiles: [core, multipath]
      samples_per_bucket: 1
      frames_per_sample: 32
      statistical_profile_policy_file: configs/data_generation/data_gen_v1.0/config.yaml

geometry_rate_hz: 2000
sample_duration_s: 1.0
warmup_s: 0.3
birdview_enabled: true
birdview:
  enabled: true
  rate_hz: 20
  height_m: 130.0
  image_size_x: 1280
  image_size_y: 1280
  fov: 90.0
  yaw_deg: 0.0

sensors:
  rsu_height_m: 5.0
  camera_rate_hz: 20
  lidar_rate_hz: 20
  radar_rate_hz: 20
  gnss_rate_hz: 10
  imu_rate_hz: 100
  camera_fov_deg: 110
  cav_rgb_views: 4
  cav_depth_views: 4
  rsu_rgb_views: 4
  rsu_depth_views: 4
  rsu_camera_view_modes: [east, north, west, south]
  cav_lidar_vertical_fov_deg: [-10, 90]
  rsu_lidar_vertical_fov_deg: [-50, 50]
  rsu_radar_horizontal_fov_deg: 120
  rsu_radar_vertical_fov_deg: 30
  rsu_radar_yaw_policy: face_road

# Probe the compiler-owned static PLYs before CARLA starts. The first offset
# preserves the generated roadside; negative offsets select the opposite side
# along the same road-normal axis. A scenario is not recorded unless one of
# these deterministic positions has open sky, wall clearance, and plausible
# ground below the 5 m device point.
rsu_static_clearance:
  enabled: true
  lateral_offset_candidates_m: [8, -8, 10, -10, 6, -6, 12, -12, 4, -4]
  minimum_horizontal_clearance_m: 3.0
  minimum_overhead_clearance_m: 4.0
  horizontal_ray_count: 16
  ground_probe_distance_m: 8.0
  minimum_ground_distance_m: 4.0
  maximum_ground_distance_m: 6.5
  # Some compiler assets (currently Town15 at this road point) omit the road
  # triangle. A missing downward hit is audited as an asset-coverage warning;
  # any represented surface that is too close below the device still fails.
  require_ground_hit: false

radio:
  center_frequency_hz: 3700000000
  bandwidth_hz: 15360000
  subcarrier_spacing_hz: 30000
  num_subcarriers: 512
  tx_antennas: 32
  rx_antennas: 2

sionna:
  core_num_samples: 1000000
  core_max_depth: 2
  multipath_num_samples: 2000000
  multipath_max_depth: 3
  scattering_num_samples: 2000000
  scattering_max_depth: 3
  # Smoke uses the same solver budget as formal core generation. A reduced
  # ray count can turn a valid weak link into an artificial empty CIR.
  smoke_num_samples: 1000000
  workers: 2
  worker_policy_mode: adaptive
  worker_policy_file: configs/data_generation/data_gen_v2.0/rf_compiler_sionna_worker_policy_2x4090.json
  worker_policy_fingerprint: strict

# Town15's current compiler asset is a 300 m x 300 m central ROI rather than a
# full-map export. Endpoints are checked in Sionna's (x, -y, z) frame before RT.
rf_support:
  Town15:
    min_rf_xyz_m: [64.566635, -348.369385, 80.0]
    max_rf_xyz_m: [364.566635, -48.369385, 200.0]
    endpoint_margin_m: 5.0

smoke:
  duration_s: 0.1