3d6b73753a
- Add pick_test_tube task: USDC asset repackaging, grasp generation, task config - Add tools: usdc_to_obj.py, repackage_test_tube.py, fix_test_tube_materials.py - Add custom_task_guide.md: full Chinese documentation for creating custom tasks - Add crawled InternDataEngine online docs (23 pages) - Add grasp generation script (gen_tube_grasp.py) and pipeline config
32 lines
828 B
YAML
32 lines
828 B
YAML
name: simbox_pick_test_tube
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load_stage:
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scene_loader:
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type: env_loader
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args:
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workflow_type: SimBoxDualWorkFlow
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cfg_path: workflows/simbox/core/configs/tasks/example/pick_test_tube.yaml
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simulator:
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physics_dt: 1/30
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rendering_dt: 1/30
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stage_units_in_meters: 1.0
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headless: False # GUI mode for visual debugging first
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renderer: "RayTracedLighting"
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anti_aliasing: 0
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layout_random_generator:
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type: env_randomizer
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args:
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random_num: 1 # Start with 1 sample for testing
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strict_mode: true
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plan_stage:
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seq_planner:
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type: env_planner
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render_stage:
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renderer:
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type: env_renderer
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store_stage:
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writer:
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type: env_writer
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args:
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batch_async: true
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output_dir: output/${name}/
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