Removed Depth and Segmentation Code

tray_sim.py

@@ -286,31 +286,6 @@ def run_tray_simulation(
             scene_option=scene_option
         )
         img = renderer.render()
-    
-        # Depth map processing
-        depth = renderer.depth
-        # Normalize depth for visualization (e.g., map to 0–255)
-        depth_normalized = np.clip((depth - depth.min()) / (depth.max() - depth.min() + 1e-6) * 255, 0, 255).astype(np.uint8)
-        imageio.imwrite(f"/tmp/frame_{t}_depth.png", depth_normalized)
-    
-        # Segmentation map processing (e.g., use geom IDs for visualization)
-        # Note: he segmentation map’s geom IDs are used here, but you could also use body IDs (segmentation[:, :, 1])
-        # or create a color-coded image by mapping IDs to specific colors for better interpretability.
-        segmentation = renderer.segmentation
-        # Use geom IDs (first channel) and normalize for visualization
-        seg_geom = segmentation[:, :, 0]  # Geom IDs
-        seg_normalized = np.clip((seg_geom - seg_geom.min()) / (seg_geom.max() - seg_geom.min() + 1e-6) * 255, 0, 255).astype(np.uint8)
-        imageio.imwrite(f"/tmp/frame_{t}_segmentation.png", seg_normalized)
-    
-        # Create a color-coded segmentation image
-        # This creates a visually distinct image where each object (geom) has a unique color.
-        unique_geom_ids = np.unique(segmentation[:, :, 0])
-        color_map = {gid: np.random.randint(0, 256, size=3) for gid in unique_geom_ids}  # Random colors
-        seg_colored = np.zeros((segmentation.shape[0], segmentation.shape[1], 3), dtype=np.uint8)
-        for gid in unique_geom_ids:
-            mask = segmentation[:, :, 0] == gid
-            seg_colored[mask] = color_map[gid]
-        imageio.imwrite(f"/tmp/frame_{t}_segmentation_colored.png", seg_colored)
             
         if t in keyframes:
             #imageio.imwrite(f"/tmp/frame_{t}.png", img)