diff --git a/main.py b/main.py
index e5d7d92dd5e63166e8e162d47049ec831ccc4bc6..df52092c8c93a51ad1637d193fbe1bd644852446 100644
--- a/main.py
+++ b/main.py
@@ -10,57 +10,10 @@ from bbox_3d import generate_3d_bbox
 import shutil
 
 
-
-
-def compute_categories_id(data_name, world):
-    #Category = 'banana1'
-    #Category = 'pear2'
-    #Category = "orange2"
-    # Opening JSON file
-    f = open(f'{data_name}/Meta/{world}.json')
-    
-    # returns JSON object as 
-    # a dictionary
-    data = json.load(f)
-    
-    # Iterating through the json
-    # list
-
-    catergories_label_to_id={}
-    catergories_id_to_label={}
-    catergories_instance_array_cat_to_id={}
-    catergories_instance_array_id_to_cat={}
-
-    for k in data['categories']:
-        catergories_label_to_id[k['label']]=k['id']
-        catergories_id_to_label[k['id']]=k['label']
-        catergories_instance_array_cat_to_id[k['label']]=[]
-
-    for k in data['objects']:
-        #print(k)
-        #catergories_instance_array[catergories_id_to_label[i['category_id']]]
-        catergories_instance_array_id_to_cat[k['id']] = catergories_id_to_label[k['category_id']]
-        catergories_instance_array_cat_to_id[catergories_id_to_label[k['category_id']]].append(k['id'])
-        # if i['category_id'] == id_category :
-        #     print("Hello fruits instance")
-        #     id_instances.append(i['id'])
-        #     print(i['id']) 
-
-    # print("catergories_instance_array_cat_to_id : ", catergories_instance_array_cat_to_id)
-    # print("catergories_instance_array_id_to_cat : ", catergories_instance_array_id_to_cat)
-
-
-    # Closing file
-    f.close()
-
-
-    return catergories_instance_array_id_to_cat, catergories_instance_array_cat_to_id
-
 def generate_folders(name, list_categories):
     is_exist = os.path.exists(name)
     if not is_exist:
         os.mkdir(name)
-
     folders = ["RGB", "Depth", "Mask", "Meta", "Pose", "Bbox_2d", "Bbox_2d_loose", "Instance_Segmentation", "Semantic_Segmentation", "Instance_Mask", "Occlusion", "Models", "Pose_transformed", "Bbox", "FPS"]
     for f in folders:
         is_exist = os.path.exists(f"{name}/{f}")
@@ -71,194 +24,26 @@ def generate_folders(name, list_categories):
                 for cat in list_categories:
                     os.makedirs(f"{name}/Generated/{f}/{cat}")
 
-
-
-
-# def compute_categories_id(dataset_src, world):
-#     #Category = 'banana1'
-#     #Category = 'pear2'
-#     #Category = "orange2"
-#     # Opening JSON file
-#     f = open(f'{dataset_src}/{world}/meta.json')
-    
-#     # returns JSON object as 
-#     # a dictionary
-#     data = json.load(f)
-    
-#     # Iterating through the json
-#     # list
-
-#     id_category = 0
-#     catergories_label_to_id={}
-#     catergories_id_to_label={}
-#     catergories_instance_array_cat_to_id={}
-#     catergories_instance_array_id_to_cat={}
-
-#     for i in data['categories']:
-#         catergories_label_to_id[i['label']]=i['id']
-#         catergories_id_to_label[i['id']]=i['label']
-#         catergories_instance_array_cat_to_id[i['label']]=[]
-
-#     for i in data['objects']:
-#         print(i)
-#         #catergories_instance_array[catergories_id_to_label[i['category_id']]]
-#         catergories_instance_array_id_to_cat[i['id']] = catergories_id_to_label[i['category_id']]
-#         catergories_instance_array_cat_to_id[catergories_id_to_label[i['category_id']]].append(i['id'])
-#         # if i['category_id'] == id_category :
-#         #     print("Hello fruits instance")
-#         #     id_instances.append(i['id'])
-#         #     print(i['id']) 
-
-#     print("catergories_instance_array_cat_to_id : ", catergories_instance_array_cat_to_id)
-#     print("catergories_instance_array_id_to_cat : ", catergories_instance_array_id_to_cat)
-
-
-#     # Closing file
-#     f.close()
-
-
-#     return catergories_instance_array_id_to_cat, catergories_instance_array_cat_to_id
-
-
-# def get_id_wanted(wanted_category):
-#     #Category = 'banana1'
-#     #Category = 'pear2'
-#     #Category = "orange2"
-#     # Opening JSON file
-#     f = open('/media/gduret/DATA/dataset/s2rg/Fruits_all_medium/data/1/meta.json')
-    
-#     # returns JSON object as 
-#     # a dictionary
-#     data = json.load(f)
-    
-#     # Iterating through the json
-#     # list
-
-#     id_category = 0
-
-#     for i in data['categories']:
-#         print(i)
-#         if i['label'] == wanted_category :
-#             print("Hello fruits")
-#             id_category = i['id']
-#             print(id_category)
-
-#     id_instances = []
-
-#     for i in data['objects']:
-#         print(i)
-#         if i['category_id'] == id_category :
-#             print("Hello fruits instance")
-#             id_instances.append(i['id'])
-#             print(i['id'])
-
-#     print(id_instances)
-
-#     # Closing file
-#     f.close()
-
-#     return id_instances
-
-
-# def compute_id_good_occ(dataset_src, world, camera, type_data, frame, catergories_instance_array_id_to_cat, catergories_instance_array_cat_to_id, Occ_wanted):
-
-#     f2 = open(f'{dataset_src}/{world}/grabber_{camera}/{type_data}/occlusion/{frame}.json')
-
-#     data2 = json.load(f2)
-
-
-#     catergories_occ_array = {}
-
-#     for cat in catergories_instance_array_cat_to_id :
-#         #print(cat)
-
-#         catergories_occ_array[cat] = []
-
-#     for i in data2:
-#         #print('i : ',i)
-#         #print(i['id'])
-#         #print(id_instances)
-#         if i['occlusion_value'] > 0.5 :
-#             catergories_occ_array[catergories_instance_array_id_to_cat[i['id']]].append(i['id'])
-
-
-
-#         # if i['id'] in id_instances :
-#         #     print("Hello banana instance occ")
-#         #     if i['occlusion_value'] > 0.5 :
-#         #         id_instances_good.append(i['id'])
-#         #         print(i['id'])
-#         #         print(i['occlusion_value'])
-
-#     print(catergories_occ_array)
-
-
-
-
-#     # Closing file
-#     f2.close()
-
-#     return catergories_occ_array
-
-
-# def get_id_good_occ(Occ_wanted):
-
-#     f2 = open('/media/gduret/DATA/dataset/s2rg/Fruits_all_medium/data/1/grabber_1/ground_truth_rgb/occlusion/4_158000000.json')
-
-#     data2 = json.load(f2)
-
-#     id_instances_good = []
-
-#     for i in data2:
-#         print('i : ',i)
-#         print(i['id'])
-#         print(id_instances)
-
-#         if i['id'] in id_instances :
-#             print("Hello banana instance occ")
-#             if i['occlusion_value'] > 0.5 :
-#                 id_instances_good.append(i['id'])
-#                 print(i['id'])
-#                 print(i['occlusion_value'])
-
-#     print(id_instances_good)
-
-
-
-
-#     # Closing file
-#     f2.close()
-
-
 if __name__ == '__main__':
-    #dataset_src = "/media/mahmoud/E/Fruits_easy/data"
-
-    # futur parameters : 
-
+    
+    ### parameters ###
     Categories = [] # to read
     Nb_instance = 1
     occ_target = 0.5
-
-    #catergories_instance_array_id_to_cat, catergories_instance_array_cat_to_id = compute_categories_id(dataset_name, 1)
-
-
     dataset_src = "/media/gduret/DATA/dataset/s2rg/Fruits_all_medium/data"
-
-    choice = "low"
-
+    #dataset_src = "/media/mahmoud/E/Fruits_easy/data"
+    choice = "low" # depth of rgb resolution datas
     data_options = {"high": "ground_truth_rgb",
                     "low": "ground_truth_depth"}
-
     dataset_type = data_options[choice]
-
-    #compute_id_good_occ(dataset_src, 1, 1, dataset_type, "1_926000000", catergories_instance_array_id_to_cat, catergories_instance_array_cat_to_id, Occ_target)
-
     dataset_name = f"GUIMOD_{choice}"
-
     list_categories = ["banana1", "kiwi1", "pear2", "strawberry1", "apricot", "orange2", "peach1", "lemon2", "apple2" ]
-    generate_folders(dataset_name, list_categories)
-
+    # frame = "1_600000000"
+    frame = "1_926000000"
+    Nb_camera = 15
+    Nb_world = 2
 
+    generate_folders(dataset_name, list_categories)
     for cat in list_categories:
         src_bbox = f"Models/{cat}/{cat.lower()}.ply"
         dst_bbox = f"{dataset_name}/Generated/Models/{cat}/{cat.lower()}.ply"
@@ -275,10 +60,6 @@ if __name__ == '__main__':
 
     np.savetxt(f'{dataset_name}/Generated/camera_{choice}.txt', camera)
 
-    # frame = "1_600000000"
-    frame = "1_926000000"
-    Nb_camera = 15
-    Nb_world = 2
     reform_data(dataset_src, dataset_name, dataset_type, frame, Nb_camera, Nb_world)
 
     transform_pose(dataset_name, Nb_camera, Nb_world, list_categories, occ_target)