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adc02fa | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 | #!/usr/bin/env python
from __future__ import annotations
import argparse
import json
import sys
from pathlib import Path
PROJECT_ROOT = Path(__file__).resolve().parents[1]
if str(PROJECT_ROOT) not in sys.path:
sys.path.insert(0, str(PROJECT_ROOT))
from dovla_cil.generation.maniskill_render import ( # noqa: E402
ManiSkillRenderConfig,
render_maniskill_observations,
)
def main(argv: list[str] | None = None) -> int:
parser = argparse.ArgumentParser(
description="Render RGB observations from persisted ManiSkill CIL states."
)
parser.add_argument("--dataset", type=Path, required=True)
parser.add_argument("--render-backend", default="cpu")
parser.add_argument("--image-quality", type=int, default=90)
parser.add_argument("--seed", type=int, default=0)
parser.add_argument("--overwrite", action="store_true")
args = parser.parse_args(argv)
result = render_maniskill_observations(
ManiSkillRenderConfig(
dataset_dir=args.dataset,
render_backend=args.render_backend,
image_quality=args.image_quality,
seed=args.seed,
overwrite=args.overwrite,
)
)
print(json.dumps(result, indent=2))
return 0
if __name__ == "__main__":
raise SystemExit(main())
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