def main():
expr_code = 'V00_release'
cwd = os.getcwd()
default_cfg_path = cwd + '/../configs/grabnet_cfg.yaml'
base_dir = '/is/ps2/otaheri/grab_net/experiments/GrabNet_release'
work_dir = os.path.join(base_dir, expr_code)
processed_data_path = '/ps/scratch/grab/contact_results/omid_46/GrabNet/data'
cfg = {
'n_neurons': 512,
'batch_size': 256,
'n_workers': 10,
'cuda_id': 0,
'use_multigpu': False,
'latentD': 16,
'kl_coef': 5e-3,
'in_features': 4096,
'rhm_path': '/ps/scratch/grab/body_models/models/mano/MANO_RIGHT.pkl',
'vpe_path': cwd + '/../configs/verts_per_edge.npy',
'c_weights_path': cwd + '/../configs/rhand_weight.npy',
'reg_coef': 5e-4,
'base_lr': 5e-4,
'best_cnet': None,
'best_rnet': None,
'log_every_epoch': 2,
'expr_code': expr_code,
'work_dir': work_dir,
'n_epochs': 500,
'dataset_dir': processed_data_path,
'load_on_ram': True
}
cfg = Config(default_cfg_path=default_cfg_path, **cfg)
grab_trainer = Trainer(cfg=cfg)
grab_trainer.fit()
vpe_path = 'grabnet/configs/verts_per_edge.npy'
c_weights_path = 'grabnet/configs/rhand_weight.npy'
cfg = {
'batch_size': batch_size,
'n_workers': n_workers,
'use_multigpu': multi_gpu,
'kl_coef': kl_coef,
'dataset_dir': data_path,
'rhm_path': rhm_path,
'vpe_path': vpe_path,
'c_weights_path': c_weights_path,
'expr_ID': expr_ID,
'work_dir': work_dir,
'base_lr': base_lr,
'best_cnet': None,
'best_rnet': None,
'load_on_ram': load_on_ram
}
cfg = Config(default_cfg_path=default_cfg_path, **cfg)
grabnet_trainer = Trainer(cfg=cfg)
grabnet_trainer.fit()
cfg = grabnet_trainer.cfg
cfg.write_cfg(
os.path.join(
work_dir,
'TR%02d_%s' % (cfg.try_num, os.path.basename(default_cfg_path))))
help='number of grasps to generate')
args = parser.parse_args()
obj_path = args.obj_path
rhm_path = args.rhm_path
scale = args.scale
n_samples = args.n_samples
cwd = os.getcwd()
work_dir = cwd + '/logs'
best_cnet = 'grabnet/models/coarsenet.pt'
best_rnet = 'grabnet/models/refinenet.pt'
bps_dir = 'grabnet/configs/bps.npz'
config = {
'work_dir': work_dir,
'best_cnet': best_cnet,
'best_rnet': best_rnet,
'bps_dir': bps_dir,
'rhm_path': rhm_path
}
cfg = Config(**config)
grabnet = Tester(cfg=cfg)
grab_new_objs(grabnet, obj_path, rot=True, n_samples=n_samples, scale=scale)
args = parser.parse_args()
rhm_path = args.rhm_path
cwd = os.getcwd()
work_dir = cwd + '/logs'
best_cnet = 'grabnet/models/coarsenet.pt'
best_rnet = 'grabnet/models/refinenet.pt'
bps_dir = 'grabnet/configs/bps.npz'
cfg_path = 'grabnet/configs/grabnet_cfg.yaml'
config = {
'work_dir': work_dir,
'best_cnet': best_cnet,
'best_rnet': best_rnet,
'bps_dir': bps_dir,
'rhm_path': rhm_path
}
cfg = Config(default_cfg_path=cfg_path, **config)
grabnet = Tester(cfg=cfg)
print('Setting refineNet iters', args.iters)
grabnet.refine_net.n_iters = args.iters
grab_new_objs(grabnet, pkl_path, rot=True, n_samples=1)