def orderSqueeze(lines):
ord_lines = []
q = []
at_q = []
grounded = set(['bbox'])
P = Program()
for line in lines:
if "attach(" in line:
parse = P.parseAttach(line)
if parse[1] in grounded:
grounded.add(parse[0])
ord_lines.append(line)
else:
at_q.append((parse[0], parse[1], line))
elif "squeeze(" in line:
parse = P.parseSqueeze(line)
if parse[1] in grounded and parse[2] in grounded:
ord_lines.append(line)
grounded.add(parse[0])
else:
q.append((parse[0], parse[1], parse[2], line))
torm = []
for i, (c, o1, o2, sl) in enumerate(q):
if o1 in grounded and o2 in grounded:
grounded.add(c)
torm.append(i)
ord_lines.append(sl)
torm.sort(reverse=True)
for i in torm:
q.pop(i)
atorm = []
for i, (c, o, al) in enumerate(at_q):
if o in grounded:
grounded.add(c)
atorm.append(i)
ord_lines.append(al)
atorm.sort(reverse=True)
for i in atorm:
at_q.pop(i)
assert len(q) == 0, 'Some squeezes are ungrounded'
assert len(at_q) == 0, 'Some attaches are ungrounded'
return ord_lines
def clean_prog(prog):
P = Program()
new_lines = []
for l in prog['prog']:
if "Cuboid" in l:
parse = P.parseCuboid(l)
new_num = [round(x.item(), 3) for x in parse[1:4]]
new_lines.append(
f"{parse[0]} = Cuboid({new_num[0]}, {new_num[1]}, {new_num[2]}, {parse[4]})"
)
elif "attach" in l:
parse = P.parseAttach(l)
new_num = [round(x.item(), 3) for x in parse[2:]]
new_lines.append(
f"attach({parse[0]}, {parse[1]}, {new_num[0]}," +
f" {new_num[1]}, {new_num[2]}, {new_num[3]}, {new_num[4]}, {new_num[5]})"
)
elif "squeeze" in l:
parse = P.parseSqueeze(l)
new_num = [round(x.item(), 3) for x in parse[-2:]]
new_lines.append(f"squeeze({parse[0]}, {parse[1]}, {parse[2]}," +
f" {parse[3]}, {new_num[0]}, {new_num[1]})")
elif "translate" in l:
parse = P.parseTranslate(l)
new_num = [round(x.item(), 3) for x in parse[-1:]]
new_lines.append(
f"translate({parse[0]}, {parse[1]}, {parse[2]}, {new_num[0]})\n"
)
elif "<END>" in l:
pass
else:
new_lines.append(l)
prog['prog'] = new_lines
for c in prog["children"]:
if not c == {}:
clean_prog(c)
# if "Assembly Program_1" in l:
# not_child = False
# if not_child:
# continue
# if "Cuboid" in l and ("bbox" in l):
# src_count += 1
# parse = P.parseCuboid(l)
# dim_list += parse[1:4]
if "attach" in l and "bbox" in l:
parse = P.parseAttach(l)
# dim_list += [float(parse[-1])]
if parse[0] not in seen_cuboids:
src_count += 1
seen_cuboids.add(parse[0])
if "squeeze" in l and "bbox" in l:
parse = P.parseSqueeze(l)
if parse[0] not in seen_cuboids:
src_count += 1
seen_cuboids.add(parse[0])
if "Assembly Program_1" in l:
break
# mean = torch.mean(torch.stack(parse[1:4])).item()
# overall_mean += mean
# num_lines += 1
# if max_dim > overall_max_dim:
# overall_max_dim = max_dim
# if not not_child:
print(float(src_count))
src_avgs.append(float(src_count))
dim_tensor = torch.tensor(dim_list)
