From b997e1a1e60f38e0a76110a9f928a7bfe7030064 Mon Sep 17 00:00:00 2001
From: ovenmitt <b.schlager@columbia.edu>
Date: Wed, 19 Jun 2024 00:32:01 -0400
Subject: [PATCH] Adapt the task instructions for demo, revert to old R18 model
 checkpoints for demo

---
 ansible/roles/provision-files/vars/main.yml  | 8 ++++----
 config/activity_labels/medical/r18-demo.yaml | 2 +-
 config/llm_prompts/r18_steps_prompt          | 2 +-
 config/tasks/medical/r18-demo.yaml           | 2 +-
 tmux/demos/medical/Kitware-R18-Zed2i-qa.yml  | 1 +
 5 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/ansible/roles/provision-files/vars/main.yml b/ansible/roles/provision-files/vars/main.yml
index 0abb1a925..d4942605d 100644
--- a/ansible/roles/provision-files/vars/main.yml
+++ b/ansible/roles/provision-files/vars/main.yml
@@ -122,15 +122,15 @@ girder_file_downloads:
       sha512: 7183385f8eaca85997725a107a76034de2bd4a59c1434b4bdb7c1ac8931cf4b68a53f6e736734643386364b9f0856de795a14965b6a02bc5eb5891252e6a73c9
       dest: "{{ stage_dirs.object_detector }}/r18_det.pt"
     # Activity classifier
-    - file_id: 666c8f5c35faf6f99fbb43ea
-      sha512: e8207b092f19659217f51dc41ba8c964ccb9c664d23d235b6166f8974c19eda3b1a098c451f6caa17bfc41148aea249eeeabdf794e2c4eff3c09bc2f009978ef
+    - file_id: 66463a80687336214e7cdeaa
+      sha512: 11c417480ef3b178cea5e9ba01878e2c1d2978129db4d8ac5d7eb0a1e6bdec0da74fc54f6bd69c8d04311809fc78503fad5c57fe45c5ee09f0f4f68197e34be1
       dest: "{{ stage_dirs.activity_classifier }}/r18_tcn.ckpt"
     - file_id: 6606b6e9aa5c8de3874c3f4a
       sha512: 3c84333390ee6b12327bb7e5debed37149c7f95cc437b16939f77b599d1a0b3b8c4f0995820b95973170b94df695494000a1c45fbf46632267c212e125fe58a3
       dest: "{{ stage_dirs.activity_classifier }}/r18_mapping.txt"
     # Global Step predictor model
-    - file_id: 666c8ef435faf6f99fbb43e8
-      sha512: ff121c00a9406b21c7c193cbbf8a2a271fc4374f05709f170565e5b64617c41fef18281653968d43740648888d0aee9c9ab4009eb791857c9a28bd6063384807
+    - file_id: 66464bf9687336214e7cdeae
+      sha512: bc7884c258cb8704372dd69a3e7d999eaf70d716d271982077c7216ef27ab01219ef1e488f6f9669e11a7e8aa6ffb9d8e07d74edc47294f90cc9e6a723f5a822
       dest: "{{ stage_dirs.task_monitor }}/global_step_predictor_act_avgs_R18.npy"
     
 # List of git repositories to check out at a specific ref and then archive.
diff --git a/config/activity_labels/medical/r18-demo.yaml b/config/activity_labels/medical/r18-demo.yaml
index 60fe571ef..1579ec16c 100644
--- a/config/activity_labels/medical/r18-demo.yaml
+++ b/config/activity_labels/medical/r18-demo.yaml
@@ -9,7 +9,7 @@ labels:
     full_str: "background"
   - id: 1
     label: "cover-seal-wound"
-    full_str: "Cover and seal wound site."
+    full_str: "With your hand, cover and seal wound site."
   - id: 2
     label: "open-pack"
     full_str: "Open vented chest seal package, while keeping wound site sealed."
diff --git a/config/llm_prompts/r18_steps_prompt b/config/llm_prompts/r18_steps_prompt
index c9cd5ea29..4562f1a2e 100644
--- a/config/llm_prompts/r18_steps_prompt
+++ b/config/llm_prompts/r18_steps_prompt
@@ -24,7 +24,7 @@ Question: What if the chest seal gets clogged with blood?
 Answer: Monitor the person. If breathing worsens, burp the seal or replace it.
 
 Here are the instructions of the current task you are trying to teach me:
-1) Cover and seal wound site.
+1) With your hand, cover and seal wound site.
 2) Open vented chest seal package, while keeping wound site sealed.
 3) Wipe blood and body fluids from wound site, while keeping wound site sealed.
 4) Peel away chest seal backer, while keeping wound site sealed.
diff --git a/config/tasks/medical/r18-demo.yaml b/config/tasks/medical/r18-demo.yaml
index e2eb2a12b..cd2475421 100644
--- a/config/tasks/medical/r18-demo.yaml
+++ b/config/tasks/medical/r18-demo.yaml
@@ -15,7 +15,7 @@ labels:
     activity_ids: [0]
   - id: 1
     label: "cover-seal-wound"
-    full_str: "Cover and seal wound site."
+    full_str: "With your hand, cover and seal wound site."
     activity_ids: [1]
   - id: 2
     label: "open-pack"
diff --git a/tmux/demos/medical/Kitware-R18-Zed2i-qa.yml b/tmux/demos/medical/Kitware-R18-Zed2i-qa.yml
index 261dd5e83..0612df573 100644
--- a/tmux/demos/medical/Kitware-R18-Zed2i-qa.yml
+++ b/tmux/demos/medical/Kitware-R18-Zed2i-qa.yml
@@ -168,6 +168,7 @@ windows:
       -p det_config:=${ANGEL_WORKSPACE_DIR}/python-tpl/TCN_HPL/tcn_hpl/data/utils/pose_generation/configs/medic_pose.yaml
       -p pose_config:=${ANGEL_WORKSPACE_DIR}/python-tpl/TCN_HPL/tcn_hpl/data/utils/pose_generation/configs/ViTPose_base_medic_casualty_256x192.py
       -p cuda_device_id:=0
+      -p det_conf_threshold:=0.0
 
   - object_and_hand_detection: ros2 run angel_system_nodes object_and_hand_detector --ros-args
       -r __ns:=${ROS_NAMESPACE}