From ad5793ae0830eb2e1f50fc01f3a67c51c5a9269f Mon Sep 17 00:00:00 2001 From: Tom Silver Date: Thu, 7 Mar 2024 14:19:33 -0500 Subject: [PATCH] wip --- .../bagel_oven_predicate_hacking.py | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/scripts/bagel_oven_equidiff/bagel_oven_predicate_hacking.py b/scripts/bagel_oven_equidiff/bagel_oven_predicate_hacking.py index e7408dc6ed..55f957e5ee 100644 --- a/scripts/bagel_oven_equidiff/bagel_oven_predicate_hacking.py +++ b/scripts/bagel_oven_equidiff/bagel_oven_predicate_hacking.py @@ -33,8 +33,8 @@ def _tray_inside_oven_classifier(state): def _canonicalize_voxel_map(voxel_map): # Assume that the y dimension is consistent. Crop above a certain y value # to isolate the top of the oven, which we will use to orient the scene. - voxel_map = voxel_map[:, 10:25] - oven_xs, oven_zs, _ = collapse_voxel_map(voxel_map, 0, 2, "forward") + cropped_voxel_map = voxel_map[:, 10:25] + oven_xs, oven_zs, _ = collapse_voxel_map(cropped_voxel_map, 0, 2, "forward") # Remove outliers. mask_image = np.zeros((voxel_map.shape[0], voxel_map.shape[2]), dtype=np.uint8) @@ -193,6 +193,10 @@ def create_voxel_map_video(demo_num): for t in range(len(voxels)): voxel_map = np.swapaxes(voxels[t], 0, -1) + + # TODO remove + voxel_map = _canonicalize_voxel_map(voxel_map) + title = "" if annotations and len(annotations) >= t-1: annotations_t = annotations[t] @@ -270,5 +274,5 @@ def create_predicate_annotations(demo_num): if __name__ == "__main__": - create_voxel_map_video(demo_num=d) + create_voxel_map_video(demo_num=0) # create_predicate_annotations(demo_num=40)