From d5779512d14ace14e25bdce48f56b3bd51ac138a Mon Sep 17 00:00:00 2001 From: Andrew Hundt Date: Tue, 27 Aug 2019 14:35:01 -0400 Subject: [PATCH] [WIP] main.py work towards stacking distractors --- main.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/main.py b/main.py index 4daa1c82..503f6213 100755 --- a/main.py +++ b/main.py @@ -100,6 +100,9 @@ def main(args): is_sim = args.is_sim # Run in simulation? obj_mesh_dir = os.path.abspath(args.obj_mesh_dir) if is_sim else None # Directory containing 3D mesh files (.obj) of objects to be added to simulation num_obj = args.num_obj if is_sim else None # Number of objects to add to simulation + num_extra_obj = args.num_extra_obj if is_sim else None + if num_obj is not None: + num_obj += num_extra_obj tcp_host_ip = args.tcp_host_ip if not is_sim else None # IP and port to robot arm as TCP client (UR5) tcp_port = args.tcp_port if not is_sim else None rtc_host_ip = args.rtc_host_ip if not is_sim else None # IP and port to robot arm as real-time client (UR5) @@ -186,7 +189,7 @@ def main(args): best_stack_rate = np.inf # Choose the first color block to grasp, or None if not running in goal conditioned mode - nonlocal_variables['stack'] = StackSequence(num_obj, grasp_color_task or place) + nonlocal_variables['stack'] = StackSequence(num_obj - num_extra_obj, grasp_color_task or place) if place: # If we are stacking we actually skip to the second block which needs to go on the first nonlocal_variables['stack'].next() @@ -830,6 +833,7 @@ def experience_replay(method, prev_primitive_action, prev_reward_value, trainer, parser.add_argument('--is_sim', dest='is_sim', action='store_true', default=False, help='run in simulation?') parser.add_argument('--obj_mesh_dir', dest='obj_mesh_dir', action='store', default='objects/blocks', help='directory containing 3D mesh files (.obj) of objects to be added to simulation') parser.add_argument('--num_obj', dest='num_obj', type=int, action='store', default=10, help='number of objects to add to simulation') + parser.add_argument('--num_extra_obj', dest='num_extra_obj', type=int, action='store', default=0, help='number of secondary objects, like distractors, to add to simulation') parser.add_argument('--tcp_host_ip', dest='tcp_host_ip', action='store', default='100.127.7.223', help='IP address to robot arm as TCP client (UR5)') parser.add_argument('--tcp_port', dest='tcp_port', type=int, action='store', default=30002, help='port to robot arm as TCP client (UR5)') parser.add_argument('--rtc_host_ip', dest='rtc_host_ip', action='store', default='100.127.7.223', help='IP address to robot arm as real-time client (UR5)')