disable hand camera on panda (people should use the real sense panda …

…config
haosulab · Jan 25, 2024 · 29497ae · 29497ae
1 parent f4ea56c
commit 29497ae
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Showing 2 changed files with 13 additions and 14 deletions.
diff --git a/examples/benchmarking/benchmark_gpu_sim.py b/examples/benchmarking/benchmark_gpu_sim.py
@@ -20,7 +20,6 @@ def main(args):
     env = gym.make(args.env_id, num_envs=num_envs, obs_mode=args.obs_mode, enable_shadow=True, render_mode=args.render_mode, control_mode="pd_joint_delta_pos", sim_freq=100, control_freq=50)
     print(f"[INFO]: Gym observation space: {env.observation_space}")
     print(f"[INFO]: Gym action space: {env.action_space}")
-
     images = []
     video_nrows=int(np.sqrt(num_envs))
     with torch.inference_mode():

diff --git a/mani_skill2/agents/robots/panda/panda.py b/mani_skill2/agents/robots/panda/panda.py
@@ -308,16 +308,16 @@ def build_grasp_pose(approaching, closing, center):
         T[:3, 3] = center
         return sapien.Pose(T)
 
-    sensor_configs = [
-        CameraConfig(
-            uid="hand_camera",
-            p=[0.0464982, -0.0200011, 0.0360011],
-            q=[0, 0.70710678, 0, 0.70710678],
-            width=128,
-            height=128,
-            fov=1.57,
-            near=0.01,
-            far=10,
-            entity_uid="panda_hand",
-        )
-    ]
+    # sensor_configs = [
+    #     CameraConfig(
+    #         uid="hand_camera",
+    #         p=[0.0464982, -0.0200011, 0.0360011],
+    #         q=[0, 0.70710678, 0, 0.70710678],
+    #         width=128,
+    #         height=128,
+    #         fov=1.57,
+    #         near=0.01,
+    #         far=10,
+    #         entity_uid="panda_hand",
+    #     )
+    # ]