Command-Line Arguments

demogen

The full set of arguments for demogen is as follows:

Argument	Description
-cfg / --config	Path to the configuration file to load.
--eval	Whether to generate evaluation or test data. When enabled, the script outputs evaluation/test datasets.
-l / --local	Local run mode. When enabled, GenManip uses AnyGrasp’s local configuration (instead of default) and launches the GUI automatically.
--record	Optional string tag used to label the process (useful for distinguishing runs in tools like nvitop), e.g., python demogen.py --record demogen_000.
-wop / --without_planning	Disables the planning phase and keeps only the first frame. Useful for large-scale VLM data generation using demogen’s randomization without trajectory planning.

Additionally, demogen reads the GMPDEBUG environment variable. When GMPDEBUG=1, the system renders each physics step after planning in GUI mode, allowing visualization of the running process.

render

The full set of arguments for render is as follows:

Argument	Description
-cfg / --config	Path to the configuration file.
-l / --local	Local run mode (uses the local AnyGrasp configuration and enables the GUI).
--record	Same as in demogen.
-r / --render_first_frame	Render only the first frame (usually used together with -wop / --without_planning).
-wod / --without_depth	Disable rendering/saving of depth information (overrides the depth setting in the camera config). Use when depth data is unnecessary and storage saving is desired.
-a / --add_random_position_camera	Whether to add an additional camera at a random position (disabled by default).
-d / --downsample n(int)	Downsampling factor (no downsampling by default). For example, -d 2 means 2× downsampling (half resolution).