Merge pull request #358 from StanfordVL/behavior-replay-vrdemo

correct metadata key to replay behavior-100 vr demos
StanfordVL · Apr 3, 2024 · f97fa9f · f97fa9f
2 parents ede9720 + 869bbc7
commit f97fa9f
Show file tree

Hide file tree

Showing 2 changed files with 6 additions and 2 deletions.
diff --git a/igibson/examples/behavior/behavior_demo_replay.py b/igibson/examples/behavior/behavior_demo_replay.py
@@ -129,7 +129,11 @@ def replay_demo(
     vr_settings.set_frame_save_path(frame_save_path)
 
     task = IGLogReader.read_metadata_attr(in_log_path, "/metadata/atus_activity")
+    if task is None:
+        task = IGLogReader.read_metadata_attr(in_log_path, "/metadata/task_name")
     task_id = IGLogReader.read_metadata_attr(in_log_path, "/metadata/activity_definition")
+    if task_id is None:
+        task_id = IGLogReader.read_metadata_attr(in_log_path, "/metadata/task_instance")
     scene = IGLogReader.read_metadata_attr(in_log_path, "/metadata/scene_id")
     physics_timestep = IGLogReader.read_metadata_attr(in_log_path, "/metadata/physics_timestep")
     render_timestep = IGLogReader.read_metadata_attr(in_log_path, "/metadata/render_timestep")

diff --git a/igibson/render/mesh_renderer/mesh_renderer_cpu.py b/igibson/render/mesh_renderer/mesh_renderer_cpu.py
@@ -1915,8 +1915,8 @@ def setup_lidar_param(self):
         xx = xx.flatten()
         yy = yy.flatten()
 
-        x_samples = (np.tan(xx) / np.cos(yy) * self.height // 2 + self.height // 2).astype(np.int)
-        y_samples = (np.tan(yy) * self.height // 2 + self.height // 2).astype(np.int)
+        x_samples = (np.tan(xx) / np.cos(yy) * self.height // 2 + self.height // 2).astype(np.int32)
+        y_samples = (np.tan(yy) * self.height // 2 + self.height // 2).astype(np.int32)
 
         self.x_samples = x_samples.flatten()
         self.y_samples = y_samples.flatten()