From 29497aecbae4e89275eb66cd51a6e0cc973c6b54 Mon Sep 17 00:00:00 2001 From: Stone Tao Date: Thu, 25 Jan 2024 15:45:22 -0800 Subject: [PATCH] disable hand camera on panda (people should use the real sense panda config --- examples/benchmarking/benchmark_gpu_sim.py | 1 - mani_skill2/agents/robots/panda/panda.py | 26 +++++++++++----------- 2 files changed, 13 insertions(+), 14 deletions(-) diff --git a/examples/benchmarking/benchmark_gpu_sim.py b/examples/benchmarking/benchmark_gpu_sim.py index becbae4e6..7185c79dd 100644 --- 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 index b827fb8b3..15291b173 100644 --- 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", + # ) + # ]