name: simbox_pick_test_tube
load_stage:
  scene_loader:
    type: env_loader
    args:
      workflow_type: SimBoxDualWorkFlow
      cfg_path: workflows/simbox/core/configs/tasks/example/pick_test_tube.yaml
      simulator:
        physics_dt: 1/30
        rendering_dt: 1/30
        stage_units_in_meters: 1.0
        headless: False                    # GUI mode for visual debugging first
        renderer: "RayTracedLighting"
        anti_aliasing: 0
  layout_random_generator:
    type: env_randomizer
    args:
      random_num: 1                        # Start with 1 sample for testing
      strict_mode: true
plan_stage:
  seq_planner:
    type: env_planner
render_stage:
  renderer:
    type: env_renderer
store_stage:
  writer:
    type: env_writer
    args:
      batch_async: true
      output_dir: output/${name}/