update

.gitignore

@@ -0,0 +1,4 @@
+data/
+data.tar
+results*/
+__pycache__/

inference.py

@@ -245,7 +245,8 @@ def _convert_json(x, c):
 
 def post_process(output, cond, save_root, gt_data_root, visualize=False):
     print('Post-processing...')
-    N = output.shape[0]
+    # N = output.shape[0]
+    N = 1
     for i in range(N):
         cond_n = {}
         cond_n['n_nodes'] = cond['n_nodes'][i] 

scripts/json2urdf.py

@@ -102,9 +102,10 @@ def pybullet_render(urdf_path, target_dir, num_frames, distance=3, fov=60):
     except Exception as e:
         print(e)
         return
-    for i in range(-1, p.getNumJoints(robot)):
-        rgba = [np.random.uniform(0.2, 1.0), np.random.uniform(0.2, 1.0), np.random.uniform(0.2, 1.0), 1]
-        p.changeVisualShape(robot, linkIndex=i, rgbaColor=rgba)
+    # Disable part mesh colors.
+    # for i in range(-1, p.getNumJoints(robot)):
+    #     rgba = [np.random.uniform(0.2, 1.0), np.random.uniform(0.2, 1.0), np.random.uniform(0.2, 1.0), 1]
+    #     p.changeVisualShape(robot, linkIndex=i, rgbaColor=rgba)
     p.resetBasePositionAndOrientation(robot, [0, 0, 0], [0, 0.7071, 0.7071, 0])
     joint_info = []
     for i in range(p.getNumJoints(robot)):