config_tudl_random.yaml

# Args: <path_to_bop_data> <bop_toolkit_path> <path_to_cc_textures> <output_dir>
{
  "version": 3,
  "setup": {
    "blender_install_path": "/home_local/<env:USER>/blender/",
    "pip": [
      "h5py",
      "scikit-image",
      "pypng==0.0.20",
      "scipy",
      "matplotlib",
      "pytz"
    ]
  },
  "modules": [
    {
      "module": "main.Initializer",
      "config": {
        "global": {
          "output_dir": "<args:4>",
          "sys_paths": ["<args:2>"]
        }
      }
    },
    {
      "module": "loader.BopLoader",
      "config": {
        "bop_dataset_path": "<args:0>/tless",
        "model_type": "cad",
        "mm2m": True,
        "sample_objects": True,
        "num_of_objs_to_sample": 7,
        "add_properties": {
          "cp_physics": True
        }
      }
    },
    {
      "module": "loader.BopLoader",
      "config": {
        "bop_dataset_path": "<args:0>/ycbv",
        "model_type": "",
        "mm2m": True,
        "sample_objects": True,
        "num_of_objs_to_sample": 7,
        "add_properties": {
          "cp_physics": True
        },
        "cf_set_shading": "SMOOTH"
      }
    },
    {
      "module": "loader.BopLoader",
      "config": {
        "bop_dataset_path": "<args:0>/hb",
        "model_type": "",
        "mm2m": True,
        "sample_objects": True,
        "num_of_objs_to_sample": 7,
        "add_properties": {
          "cp_physics": True
        },
        "cf_set_shading": "SMOOTH"
      }
    },
    {
      "module": "loader.BopLoader",
      "config": {
        "bop_dataset_path": "<args:0>/<args:1>",
        "model_type": "",
        "mm2m": True,
        "sample_objects": True,
        "num_of_objs_to_sample": 3,
        "obj_instances_limit": 1,
        "add_properties": {
          "cp_physics": True
        },
        "cf_set_shading": "SMOOTH"
      }
    },
    {
      "module": "manipulators.MaterialManipulator",
      "config": {
        "selector": {
          "provider": "getter.Material",
          "conditions": [
          {
            "name": "bop_tless_vertex_col_material.*"
          }
          ]
        },
        "cf_set_base_color": {
          "provider": "sampler.Color",
          "grey": True,
          "min": [0.1, 0.1, 0.1, 1.0],
          "max": [0.9, 0.9, 0.9, 1.0]
        }
      }
    },
    {
      "module": "manipulators.MaterialManipulator",
      "config": {
        "selector": {
          "provider": "getter.Material",
          "conditions": [
          {
            "name": "bop_tless_vertex_col_material.*"
          },
          {
            "name": "bop_ycbv_vertex_col_material.*"
          },
          {
            "name": "bop_hb_vertex_col_material.*"
          },
          {
            "name": "bop_<args:1>_vertex_col_material.*"
          }
          ]
        },
        "cf_set_specular": {
          "provider": "sampler.Value",
          "type": "float",
          "min": 0.0,
          "max": 1.0
        },
        "cf_set_roughness": {
          "provider": "sampler.Value",
          "type": "float",
          "min": 0.0,
          "max": 1.0
        }
      }
    },
    {
      "module": "constructor.BasicMeshInitializer",
      "config": {
        "meshes_to_add": [
        {
          "type": "plane",
          "name": "ground_plane0",
          "scale": [2, 2, 1]
        },
        {
          "type": "plane",
          "name": "ground_plane1",
          "scale": [2, 2, 1],
          "location": [0, -2, 2],
          "rotation": [-1.570796, 0, 0] # switch the sign to turn the normals to the outside
        },
        {
          "type": "plane",
          "name": "ground_plane2",
          "scale": [2, 2, 1],
          "location": [0, 2, 2],
          "rotation": [1.570796, 0, 0]
        },
        {
          "type": "plane",
          "name": "ground_plane4",
          "scale": [2, 2, 1],
          "location": [2, 0, 2],
          "rotation": [0, -1.570796, 0]
        },
        {
          "type": "plane",
          "name": "ground_plane5",
          "scale": [2, 2, 1],
          "location": [-2, 0, 2],
          "rotation": [0, 1.570796, 0]
        },
        {
          "type": "plane",
          "name": "light_plane",
          "location": [0, 0, 10],
          "scale": [3, 3, 1]
        }
        ]
      }
    },
    {
      "module": "manipulators.EntityManipulator",
      "config": {
        "selector": {
          "provider": "getter.Entity",
          "conditions": {
            "name": '.*plane.*'
          }
        },
        "cp_physics": False,
        "cp_physics_collision_shape": "BOX",
        "cp_category_id": 333
      }
    },
    {
      "module": "manipulators.MaterialManipulator",
      "config": {
        "selector": {
          "provider": "getter.Material",
          "conditions": {
            "name": "light_plane_material"
          }
        },
        "cf_switch_to_emission_shader": {
          "color": {
            "provider": "sampler.Color",
            "min": [0.5, 0.5, 0.5, 1.0],
            "max": [1.0, 1.0, 1.0, 1.0]
          },
          "strength": {
            "provider": "sampler.Value",
            "type": "float",
            "min": 3,
            "max": 6
          }
        }
      }
    },
    {
      "module": "loader.CCMaterialLoader",
      "config": {
        "folder_path": "<args:3>"
      }
    },
    {
      "module": "manipulators.EntityManipulator",
      "config": {
        "selector": {
          "provider": "getter.Entity",
          "conditions": {
            "name": "ground_plane.*"
          }
        },
        "mode": "once_for_all",
        "cf_randomize_materials": {
          "randomization_level": 1,
          "materials_to_replace_with": {
            "provider": "getter.Material",
            "random_samples": 1,
            "conditions": {
              "cp_is_cc_texture": True
            }
          }
        }
      }
    },
    {
      "module": "object.ObjectPoseSampler",
      "config": {
        "objects_to_sample": {
          "provider": "getter.Entity",
          "conditions": {
            "cp_physics": True
          }
        },
        "pos_sampler": {
          "provider":"sampler.Uniform3d",
          "min": {
            "provider": "sampler.Uniform3d",
            "min": [-0.6, -0.6, 0.0],
            "max": [-0.4, -0.4, 0.0]
          },
          "max": {
            "provider": "sampler.Uniform3d",
            "min": [0.4, 0.4, 0.4],
            "max": [0.6, 0.6, 0.6]
          }
        },
        "rot_sampler":{
          "provider":"sampler.UniformSO3"
        }
      }
    },
    {
      "module": "object.PhysicsPositioning",
      "config": {
        "min_simulation_time": 3,
        "max_simulation_time": 10,
        "check_object_interval": 1,
        "solver_iters": 25,
        "substeps_per_frame": 20,
        "friction": 100.0,
        "linear_damping": 0.99,
        "angular_damping": 0.99
      }
    },
    {
      "module": "lighting.LightSampler",
      "config": {
        "lights": [
        {
          "location": {
            "provider": "sampler.Shell",
            "center": [0, 0, 0],
            "radius_min": 1, # now depends on the bottom area of the box
            "radius_max": 1.5, # this one too
            "elevation_min": 5,
            "elevation_max": 89
          },
          "color": {
            "provider": "sampler.Color",
            "min": [0.5, 0.5, 0.5, 1.0],
            "max": [1.0, 1.0, 1.0, 1.0]
          },
          "type": "POINT",
          "energy": 200
        }
        ]
      }
    },
    {
      "module": "camera.CameraSampler",
      "config": {
        "cam_poses": [
        {
          "proximity_checks": {
            "min": 0.3
          },
          "excluded_objs_in_proximity_check":  {
            "provider": "getter.Entity",
            "conditions": {
              "name": "ground_plane.*",
              "type": "MESH"
            }
          },
          "number_of_samples": 25,
          "location": {
            "provider": "sampler.Shell",
            "center": [0, 0, 0],
            "radius_min": 0.85,
            "radius_max": 2.02,
            "elevation_min": 5,
            "elevation_max": 89
          },
          "rotation": {
            "format": "look_at",
            "value": {
              "provider": "getter.POI",
              "selector": {
                "provider": "getter.Entity",
                "conditions": {
                  "type": "MESH",
                  "cp_bop_dataset_name": "<args:1>",
                },
                "random_samples": 3
              }
            },
            "inplane_rot": {
              "provider": "sampler.Value",
              "type": "float",
              "min": -3.14159,
              "max": 3.14159
            }
          }
        }
        ]
      }
    },
    {
      "module": "renderer.RgbRenderer",
      "config": {
        "samples": 50,
        "render_distance": True,
        "image_type": "JPEG"
      }
    },
    {
      "module": "writer.BopWriter",
      "config": {
        "dataset": "<args:1>",
        "append_to_existing_output": True,
        "depth_scale": 0.1,
        "ignore_dist_thres": 5.,
        "postprocessing_modules": {
          "distance": [
            {"module": "postprocessing.Dist2Depth"}
          ]
        }
      }
    }
  ]
}