Skip to content
GenManip

Misc

preprocess_config

Section titled “preprocess_config”

Preprocess steps for scene initialization. Examples:

  • collider: add collision shapes (convex decomposition) for existing meshes:

    preprocess_config:
    - config:
        config: default
        type: convexDecomposition
      type: collider

  • rigid_body: add rigid body properties so objects respond to physics:

    preprocess_config:
    - type: rigid_body

These are useful when you create scenes manually and need automatic physics setup.

robots

Section titled “robots”

Supported robot types (examples):

  • Franka — supports panda_hand and robotiq grippers:

    Panda hand:

    robots:
    - config:
        gripper_type: panda_hand
      type: franka

    Robotiq:

    robots:
    - config:
        gripper_type: robotiq
      type: franka

  • Aloha — split aloha arm:

    robots:
    - config:
        gripper_type: aloha_split
      type: aloha_split

  • Lift2:

    robots:
    - config:
        gripper_type: lift2
      type: lift2

You can also set default_joint_positions to alter the robot’s initial joint angles. Example for Franka+Robotiq (list length matches robot DoF):

robots:
- config:
    gripper_type: robotiq
  type: franka
  default_joint_positions:
  - 0.0
  - -0.785
  - 0.0
  - -2.356
  - 0.0
  - 1.57079
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0

Misc / other fields

Section titled “Misc / other fields”
  • instruction: natural language description of the task.
  • num_episode: how many episodes to generate.
  • usd_name: scene file path relative to saved/assets.
  • table_uid: UID of the table in the scene (GenManip focused on tabletop tasks by default; multiple/no-table scenes are supported — see Advanced Data Generation).