| 68 | |
| 69 | |
| 70 | def _parse_args() -> argparse.Namespace: |
| 71 | parser = argparse.ArgumentParser(description=__doc__) |
| 72 | parser.add_argument( |
| 73 | "--record-path", |
| 74 | type=Path, |
| 75 | default=None, |
| 76 | help="Recorded state log produced by tools/teleop/franka_robotiq_task_teleop.py.", |
| 77 | ) |
| 78 | parser.add_argument("--output-dir", type=Path, default=DEFAULT_OUTPUT_DIR) |
| 79 | parser.add_argument("--task-dir", type=Path, default=DEFAULT_TASK_DIR) |
| 80 | parser.add_argument("--asset-registry-root", type=Path, default=DEFAULT_ASSET_REGISTRY_ROOT) |
| 81 | parser.add_argument("--variation-id", default="BASE") |
| 82 | parser.add_argument("--episode-seed", type=int, default=1234) |
| 83 | parser.add_argument("--prim-root", default="/World/Objects") |
| 84 | parser.add_argument("--load-background", dest="load_background", action="store_true", default=True) |
| 85 | parser.add_argument("--no-background", dest="load_background", action="store_false") |
| 86 | parser.add_argument("--background-registry", type=Path, default=DEFAULT_BACKGROUND_REGISTRY) |
| 87 | parser.add_argument("--background-scene-id", default=None) |
| 88 | parser.add_argument("--background-material-id", default=None) |
| 89 | parser.add_argument("--background-layout-id", default=None) |
| 90 | parser.add_argument("--background-prim-path", default="/World/Background") |
| 91 | parser.add_argument("--reference-prim-path", default="/World/BeTTERFrankaRobotiq") |
| 92 | parser.add_argument( |
| 93 | "--robot-position", |
| 94 | type=float, |
| 95 | nargs=3, |
| 96 | default=DEFAULT_ROBOT_POSITION, |
| 97 | metavar=("X", "Y", "Z"), |
| 98 | help="World translation for the robot reference root prim.", |
| 99 | ) |
| 100 | parser.add_argument("--embodiment-id", default="franka_robotiq") |
| 101 | parser.add_argument("--controller-profile-id", default=None) |
| 102 | parser.add_argument( |
| 103 | "--physics-dt", |
| 104 | type=float, |
| 105 | default=DEFAULT_RENDER_SYNC_DT, |
| 106 | help="Physics timestep used for the per-frame articulation/render sync step.", |
| 107 | ) |
| 108 | parser.add_argument( |
| 109 | "--rendering-dt", |
| 110 | type=float, |
| 111 | default=DEFAULT_RENDER_SYNC_DT, |
| 112 | help=( |
| 113 | "Isaac World rendering timestep used for sync. Keep this equal to " |
| 114 | "--physics-dt for one sync step per saved frame; output video FPS is " |
| 115 | "controlled by --render-fps." |
| 116 | ), |
| 117 | ) |
| 118 | parser.add_argument( |
| 119 | "--render-fps", |
| 120 | type=float, |
| 121 | default=15.0, |
| 122 | help="Output video frame-rate metadata. This does not change restored state sampling.", |
| 123 | ) |
| 124 | parser.add_argument("--headless", dest="headless", action="store_true", default=True) |
| 125 | parser.add_argument("--gui", dest="headless", action="store_false") |
| 126 | parser.add_argument("--renderer", default="RaytracedLighting") |
| 127 | parser.add_argument("--skip-ground-plane", action="store_true") |