| """CLI argument definitions for Task E demo collection. |
| """ |
|
|
|
|
| def add_collect_demo_args(parser) -> None: |
| parser.add_argument( |
| "--num_demos", type=int, default=50, |
| help="Number of successful demos to collect.", |
| ) |
| parser.add_argument( |
| "--output_dir", type=str, default="./datasets/atec_task_e", |
| help="Directory to save trajectory.hdf5 and trajectory.json.", |
| ) |
| parser.add_argument( |
| "--pick_objects", type=int, nargs="+", default=[3, 2, 1], |
| metavar="N", |
| help="Which objects to pick, in execution order. Default clears near-to-far: 3 2 1.", |
| ) |
| parser.add_argument( |
| "--save_video", action="store_true", default=False, |
| help="Save an MP4 per demo for visualization " |
| "(requires: pip install imageio imageio-ffmpeg).", |
| ) |
| parser.add_argument( |
| "--video_dir", type=str, default=None, |
| help="Output directory for MP4 files. Defaults to <output_dir>/videos/.", |
| ) |
| parser.add_argument( |
| "--save_images", action="store_true", default=False, |
| help="Save raw RGB frames into HDF5 under traj_N/images/rgb (T,H,W,3) " |
| "for ACT RGBD training. Shares the camera with --save_video.", |
| ) |
| parser.add_argument( |
| "--only_success", action="store_true", default=False, |
| help="Discard demos where not all picked objects ended up in the basket.", |
| ) |
| parser.add_argument( |
| "--max_attempts", type=int, default=0, |
| help="Stop after this many attempts even if num_demos is not reached. 0 means unlimited.", |
| ) |
| parser.add_argument( |
| "--trace", action="store_true", default=False, |
| help="Print compact grasp/basket diagnostics for failed scripted demos.", |
| ) |
| parser.add_argument( |
| "--abort_failed_lift", action="store_true", default=False, |
| help="Abort an attempt as soon as the current object fails the post-LIFT height gate.", |
| ) |
|
|
