const scalar_t world_width = 400;
const scalar_t world_height = 400;
const scalar_t scaling = 0.16; // So that 400 * 0.16 = 64
- const scalar_t shape_size = 80;
const scalar_t dt = 0.1;
const int nb_iterations_per_steps = 5;
int every_nth = 4;
int nb_frames = 5;
- int multi_grasp = 0;
+ int random_grasp = 0;
+ int random_shape_size = 0;
int nb_shapes = 1;
char data_dir[1024] = "/tmp/";
int multi_images = 0;
i++;
}
- else if(strcmp(argv[i], "--multi_grasp") == 0) {
- multi_grasp = 1;
+ else if(strcmp(argv[i], "--random_grasp") == 0) {
+ random_grasp = 1;
+ i++;
+ }
+
+ else if(strcmp(argv[i], "--random_shape_size") == 0) {
+ random_shape_size = 1;
i++;
}
scalar_t grab_start_x, grab_start_y;
- if(multi_grasp) {
+ if(random_grasp) {
grab_start_x = world_width * (0.1 + 0.8 * drand48());
grab_start_y = world_height * (0.1 + 0.8 * drand48());
} else {
nb_attempts = 0;
+ scalar_t shape_size;
+
+ if(random_shape_size) {
+ shape_size = 40 + 80 * drand48();
+ } else {
+ shape_size = 80;
+ }
+
do {
scalar_t x[] = { - shape_size * 0.4, + shape_size * 0.4,
+ shape_size * 0.4, - shape_size * 0.4 };