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Add SeattleLabTable + apply scene patches across 9 kitchens 本 PR 将 RegraspGen 项目对 9 个 kitchen 环境的本地修改一次性推到 dataset. 1. playing_cards_kitchen/scene.usda: 加入 SeattleLabTable reference (替代损坏的 board_0). 2. playing_cards_kitchen/assets/seattle_lab_table/{table_instanceable, table}.usd: 新增 SeattleLabTable 共享资产 (从 NVIDIA Nucleus 下载本地化, ~10.5MB). 3. 7 RoboTwin kitchens (drill/dumbbell/jamjar/milkbox/mug/oliveoil/shoe): scene.usda 加入 SeattleLabTable reference (跨任务 reference ../playing_cards_kitchen/assets/seattle_lab_table/), 关闭 board_0. 4. 新增 perfumekitchen 任务 (RoboTwin 115_perfume base0): scene.usda + assets/perfume_0/. 动机: 原 board_0 桌子 PhysX 凸分解 + 非均匀缩放导致碰撞面错误,物体下沉. 改用 Isaac Lab 标准 SeattleLabTable.
#8
by Litian2002 - opened
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MaximumY changed pull request status to merged