def postprocess(args):
# whether to set all objects same color
args.monochrome = bool(args.monochrome)
args.dscale = handle_random_transform_args(args.dscale)
# args.tscale = handle_random_transform_args(args.tscale)
args.drot = handle_random_transform_args(args.drot)
# args.trot = handle_random_transform_args(args.trot)
# choose a valid room
assert args.room in ['box', 'tdw', 'house'], args.room
if args.drop is not None:
drop_list = args.drop.split(',')
assert all([d in MODEL_NAMES for d in drop_list]), \
"All drop object names must be elements of %s" % MODEL_NAMES
args.drop = drop_list
else:
args.drop = MODEL_NAMES
# if args.target is not None:
# targ_list = args.target.split(',')
# assert all([t in MODEL_NAMES for t in targ_list]), \
# "All target object names must be elements of %s" % MODEL_NAMES
# args.target = targ_list
# else:
# args.target = MODEL_NAMES
# if args.color is not None:
# rgb = [float(c) for c in args.color.split(',')]
# assert len(rgb) == 3, rgb
# args.color = rgb
return args
def postprocess(args):
args.fupforce = handle_random_transform_args(args.fupforce)
args.size_min = handle_random_transform_args(args.size_min)
args.size_max = handle_random_transform_args(args.size_max)
## don't let background objects move
args.no_moving_distractors = True
return args
def postprocess(args):
args.relation = [
r for r in Relation if r.name in args.relation.split(',')
]
args.container = [
nm for nm in args.container.split(',') if nm in ALL_NAMES
]
args.target = [nm for nm in args.target.split(',') if nm in ALL_NAMES]
args.distractor = [
nm for nm in args.distractor.split(',') if nm in ALL_NAMES
]
args.zscale = handle_random_transform_args(args.zscale)
args.cscale = handle_random_transform_args(args.cscale)
args.tscale = handle_random_transform_args(args.tscale)
args.dscale = handle_random_transform_args(args.dscale)
args.cposition = handle_random_transform_args(args.cposition)
args.cposition["y"] = 0.0
args.tposition = handle_random_transform_args(args.tposition)
args.trotation = handle_random_transform_args(args.trotation)
args.tangle = handle_random_transform_args(args.tangle)
args.camera_distance = handle_random_transform_args(
args.camera_distance)
return args
def postprocess(args):
if args.toys:
if args.probe is None:
args.probe = ','.join(FULL_NAMES)
if args.middle is None:
args.middle = ','.join(FULL_NAMES)
if args.target is None:
args.tower = ','.join(FULL_NAMES)
args.tower_cap = args.target
# parent postprocess
args = domino_postproc(args)
# ramp height
args.rheight = handle_random_transform_args(args.rheight)
# whether to use a cap object on the tower
if args.tower_cap is not None:
cap_list = args.tower_cap.split(',')
assert all([t in MODEL_NAMES for t in cap_list]), \
"All target object names must be elements of %s" % MODEL_NAMES
args.tower_cap = cap_list
else:
args.tower_cap = []
return args
def postprocess(args):
# parent postprocess
args = tower_postproc(args)
# ramp
args.rheight = handle_random_transform_args(args.rheight)
# num links
args.num_middle_range = handle_random_transform_args(args.num_middle_range)
# target
args.target_link_range = handle_random_transform_args(args.target_link_range)
# attachment
args.ascale = handle_random_transform_args(args.ascale)
args.amass = handle_random_transform_args(args.amass)
if args.acolor is not None:
args.acolor = [float(c) for c in args.acolor.split(',')]
if args.attachment is not None:
args.attachment = args.attachment.split(',')
# base
args.bscale = handle_random_transform_args(args.bscale)
args.bmass = handle_random_transform_args(args.bmass)
if args.bcolor is not None:
args.bcolor = [float(c) for c in args.bcolor.split(',')]
if args.base is not None:
args.base = args.base.split(',')
return args
def postprocess(args):
args.fupforce = handle_random_transform_args(args.fupforce)
args.ramp_scale = handle_random_transform_args(args.ramp_scale)
### ledge
args.use_ledge = bool(args.use_ledge)
if args.ledge is not None:
targ_list = args.ledge.split(',')
assert all([t in MODEL_NAMES for t in targ_list]), \
"All ledge object names must be elements of %s" % MODEL_NAMES
args.ledge = targ_list
else:
args.ledge = MODEL_NAMES
args.ledge_scale = handle_random_transform_args(args.ledge_scale)
return args
def get_args(dataset_dir: str):
"""
Combine Drop-specific arguments with controller-common arguments
"""
common = get_parser(dataset_dir, get_help=False)
parser = ArgumentParser(parents=[common])
parser.add_argument("--drop",
type=str,
default=None,
help="comma-separated list of possible drop objects")
parser.add_argument("--target",
type=str,
default=None,
help="comma-separated list of possible target objects")
parser.add_argument("--ymin",
type=float,
default=0.75,
help="min height to drop object from")
parser.add_argument("--ymax",
type=float,
default=1.25,
help="max height to drop object from")
parser.add_argument("--dscale",
type=str,
default="[0.2,0.3]",
help="scale of drop objects")
parser.add_argument("--tscale",
type=str,
default="[0.2,0.3]",
help="scale of target objects")
parser.add_argument(
"--drot",
type=str,
default=None,
help="comma separated list of initial drop rotation values")
parser.add_argument(
"--trot",
type=str,
default=None,
help="comma separated list of initial target rotation values")
parser.add_argument(
"--jitter",
type=float,
default=0.2,
help=
"amount to jitter initial drop object horizontal position across trials"
)
parser.add_argument(
"--color",
type=str,
default=None,
help=
"comma-separated R,G,B values for the target object color. Defaults to random."
)
parser.add_argument(
"--camera_distance",
type=float,
default=1.25,
help="radial distance from camera to drop/target object pair")
parser.add_argument(
"--camera_min_angle",
type=float,
default=0,
help="minimum angle of camera rotation around centerpoint")
parser.add_argument(
"--camera_max_angle",
type=float,
default=0,
help="maximum angle of camera rotation around centerpoint")
parser.add_argument(
"--camera_min_height",
type=float,
default=1. / 3,
help="min height of camera as a fraction of drop height")
parser.add_argument(
"--camera_max_height",
type=float,
default=2. / 3,
help="max height of camera as a fraction of drop height")
args = parser.parse_args()
# whether to set all objects same color
args.monochrome = bool(args.monochrome)
args.dscale = handle_random_transform_args(args.dscale)
args.tscale = handle_random_transform_args(args.tscale)
args.drot = handle_random_transform_args(args.drot)
args.trot = handle_random_transform_args(args.trot)
if args.drop is not None:
drop_list = args.drop.split(',')
assert all([d in MODEL_NAMES for d in drop_list]), \
"All drop object names must be elements of %s" % MODEL_NAMES
args.drop = drop_list
else:
args.drop = MODEL_NAMES
if args.target is not None:
targ_list = args.target.split(',')
assert all([t in MODEL_NAMES for t in targ_list]), \
"All target object names must be elements of %s" % MODEL_NAMES
args.target = targ_list
else:
args.target = MODEL_NAMES
if args.color is not None:
rgb = [float(c) for c in args.color.split(',')]
assert len(rgb) == 3, rgb
args.color = rgb
return args
def postprocess(args):
args = domino_postproc(args)
args.rheight = handle_random_transform_args(args.rheight)
return args
def postprocess(args):
args.fupforce = handle_random_transform_args(args.fupforce)
return args