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[gala kinematic] split train and test stages #1751

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[gala kinematic] split train and test stages #1751

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0ef5635
split train and test stages
vincentpierre May 11, 2022
e32b2b1
fixing off by one
vincentpierre May 11, 2022
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8 changes: 4 additions & 4 deletions src/esp/batched_sim/EpisodeGenerator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -333,11 +333,11 @@ EpisodeSet generateBenchmarkEpisodeSet(const EpisodeGeneratorConfig& config,
"Baked_sc0_staging_11",
// "Baked_sc0_staging_12",
};
ESP_CHECK(config.numStageVariations <= selectedReplicaCadBakedStages.size(),
"generateBenchmarkEpisodeSet: config.numStageVariations=" << config.numStageVariations
ESP_CHECK(config.maxStageNumber <= selectedReplicaCadBakedStages.size(),
"generateBenchmarkEpisodeSet: config.maxStageNumber=" << config.maxStageNumber
<< " must be <= selectedReplicaCadBakedStages.size()=" << selectedReplicaCadBakedStages.size());

for (int i = 0; i < config.numStageVariations; i++) {
for (int i = config.minStageNumber; i <= config.maxStageNumber; i++) {
addStageFixedObject(set, selectedReplicaCadBakedStages[i]);
}

Expand Down Expand Up @@ -369,7 +369,7 @@ EpisodeSet generateBenchmarkEpisodeSet(const EpisodeGeneratorConfig& config,

// distribute stages across episodes
for (int i = 0; i < numEpisodes; i++) {
int stageIndex = i * config.numStageVariations / numEpisodes;
int stageIndex = i * (config.maxStageNumber - config.minStageNumber + 1) / numEpisodes;
addEpisode(config, set, collection, stageIndex, random, random2, robotProxy);
}
BATCHED_SIM_ASSERT(set.maxFreeObjects_ > 0);
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4 changes: 3 additions & 1 deletion src/esp/batched_sim/EpisodeGenerator.h
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Expand Up @@ -13,7 +13,9 @@ namespace batched_sim {
struct EpisodeGeneratorConfig {
int numEpisodes = 100;
int seed = 3; // this is 3 for legacy reason
int numStageVariations = 12; // see selectedReplicaCadBakedStages
// int numStageVariations = 12; // see selectedReplicaCadBakedStages
int minStageNumber = 0;
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"index" is probably a better term than "number"

int maxStageNumber = 11;
int numObjectVariations = 6; // see selectedYCBObjects
int minNontargetObjects = 27;
int maxNontargetObjects = 32;
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4 changes: 3 additions & 1 deletion src/esp/bindings/BatchedSimBindings.cpp
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Expand Up @@ -46,7 +46,9 @@ void initBatchedSimBindings(py::module& m) {
.def(py::init(&EpisodeGeneratorConfig::create<>))
.def_readwrite("numEpisodes", &EpisodeGeneratorConfig::numEpisodes, R"(Todo)")
.def_readwrite("seed", &EpisodeGeneratorConfig::seed, R"(Todo)")
.def_readwrite("num_stage_variations", &EpisodeGeneratorConfig::numStageVariations, R"(Todo)")
// .def_readwrite("num_stage_variations", &EpisodeGeneratorConfig::numStageVariations, R"(Todo)")
.def_readwrite("min_stage_number", &EpisodeGeneratorConfig::minStageNumber, R"(Todo)")
.def_readwrite("max_stage_number", &EpisodeGeneratorConfig::maxStageNumber, R"(Todo)")
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FYI, the docstring is optional...

.def_readwrite("num_object_variations", &EpisodeGeneratorConfig::numObjectVariations, R"(Todo)")
.def_readwrite("min_nontarget_objects", &EpisodeGeneratorConfig::minNontargetObjects, R"(Todo)")
.def_readwrite("max_nontarget_objects", &EpisodeGeneratorConfig::maxNontargetObjects, R"(Todo)")
Expand Down