some background stuff was popping up unexpectedly

Author: beneisner

notebooks/explore_dset2.ipynb

@@ -47,33 +47,6 @@
     ")"
    ]
   },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "data = dset[0]"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "data[\"ignore_collisions\"]"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "data.keys()"
-   ]
-  },
   {
    "cell_type": "code",
    "execution_count": null,
@@ -401,13 +374,23 @@
    "outputs": [],
    "source": [
     "# Get a mapping from handle id to handle name.\n",
-    "handle_mapping = load_handle_mapping(\"/data/rlbench10/\", task_name, 0)\n",
+    "task_name = \"put_money_in_safe\"\n",
+    "handle_mapping = load_handle_mapping(\"/data/rlbench10_collisions/\", task_name, 0)\n",
     "rev_handle_mapping = {v: k for k, v in handle_mapping.items()}\n",
     "\n",
     "q_id = 100\n",
     "rev_handle_mapping[q_id]"
    ]
   },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "handle_mapping"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": null,
@@ -510,7 +493,7 @@
     "N_DEMOS = 10\n",
     "# Create a dataset for that phase.\n",
     "dset = RLBenchPlacementDataset(\n",
-    "    dataset_root=\"/data/rlbench10/\",\n",
+    "    dataset_root=\"/data/rlbench10_collisions/\",\n",
     "    task_name=\"take_umbrella_out_of_umbrella_stand\",\n",
     "    demos=range(N_DEMOS),\n",
     "    phase=phase,\n",
@@ -571,12 +554,12 @@
     "\n",
     "# task_name = \"pick_and_lift\"\n",
     "# task_name = \"pick_up_cup\"\n",
-    "# task_name = \"put_knife_on_chopping_board\"\n",
+    "task_name = \"put_knife_on_chopping_board\"\n",
     "# task_name = \"put_money_in_safe\"\n",
     "# task_name = \"push_button\"\n",
     "# task_name = \"reach_target\"\n",
     "# task_name = \"slide_block_to_target\"\n",
-    "task_name = \"stack_wine\"\n",
+    "# task_name = \"stack_wine\"\n",
     "# task_name = \"take_money_out_safe\"\n",
     "# task_name = \"take_umbrella_out_of_umbrella_stand\"\n",
     "\n",
@@ -586,14 +569,16 @@
     "for ix, phase in enumerate(TASK_DICT[task_name][\"phase_order\"]):\n",
     "    print(f\"Phase: {phase}\")\n",
     "    dset = RLBenchPlacementDataset(\n",
-    "        dataset_root=\"/data/rlbench10/\",\n",
+    "        dataset_root=\"/data/rlbench10_collisions/\",\n",
     "        task_name=task_name,\n",
     "        demos=[0],\n",
     "        phase=phase,\n",
     "        debugging=False,\n",
     "        use_first_as_init_keyframe=False,\n",
     "        anchor_mode=\"background_robot_removed\",\n",
     "        action_mode=\"gripper_and_object\",\n",
+    "        include_wrist_cam=True,\n",
+    "        gripper_in_first_phase=True,\n",
     "    )\n",
     "\n",
     "    data = dset[0]\n",

src/rpad/rlbench_utils/placement_dataset.py

@@ -141,7 +141,11 @@ def load_state_pos_dict(
 
 BACKGROUND_NAMES = [
     "ResizableFloor_5_25_visibleElement",
+    "Wall1",
+    "Wall2",
     "Wall3",
+    "Wall4",
+    "Roof",
     "diningTable_visible",
     "workspace",
 ]
@@ -213,7 +217,10 @@ def get_anchor_points(
         names = BACKGROUND_NAMES + ROBOT_NONGRIPPER_NAMES
 
         # If it's the first phase, we also omit the gripper.
-        if phase == TASK_DICT[task_name]["phase_order"][0] and gripper_in_first_phase:
+        if (
+            phase == TASK_DICT[task_name]["phase_order"][0]
+            and not gripper_in_first_phase
+        ):
             names += GRIPPER_OBJ_NAMES
 
         return filter_out_names(rgb, point_cloud, mask, handle_mapping, names)