MesaTask/config.yaml at main · InternRobotics/MesaTask · GitHub

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# MesaTask Configuration File

# Data Paths
annotations_path: "./MesaTask-10K/Asset_annotation.json"
sbert_features_path: "./MesaTask-10K/sbert_text_features.pkl"

# Tools
model_base_path: "./MesaTask-10K/Assets_library"
blender_executable: "./blender-4.3.2-linux-x64/blender"

# Scene Assets
table_model_path: "./MesaTask-10K/Assets_library/3cc47c3f78d34985bf4314de2f8196dd.glb"
sink_model_path: "./MesaTask-10K/Assets_library/sink_cube.glb"

# Processing Parameters
retrieval_threshold: 0.2
top_k_text: 20
top_k_final: 5
text_weight: 0.9
size_weight: 0.1

# Drake Configuration
drake:
  glb_dir: "./MesaTask-10K/Assets_library"
  original_urdf: ".tools/layoutppt/test.urdf"
  model_package_path: "./MesaTask-10K/Assets_library_obj"
  window_size: 6
  max_rounds: 3
  min_distance: 0.01
  convergence_threshold: 0
  output_suffix: "_optimized"
  optimization:
    influence_distance: 0.2
    solver_name: "ipopt"
    iteration_limit: 50000
    tol: 1e-6