Merge branch 'camera_benchmarks' of github.com:kellyguo11/IsaacLab-pu…

…blic into camera_benchmarks
kellyguo11 · Jul 31, 2024 · 00f0b01 · 00f0b01
2 parents 589ca9c + 494f334
commit 00f0b01
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diff --git a/...tensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_camera_env.py b/...tensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_camera_env.py
@@ -152,7 +152,7 @@ def _configure_gym_env_spaces(self):
     def _setup_scene(self):
         """Setup the scene with the cartpole and camera."""
         self._cartpole = Articulation(self.cfg.robot_cfg)
-        self._tiled_camera = TiledCamera(self.cfg.tiled_camera)
+        self._tiled_camera = self.cfg.tiled_camera.class_type(self.cfg.tiled_camera)
 
         # clone, filter, and replicate
         self.scene.clone_environments(copy_from_source=False)

diff --git a/...ns/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_camera_env.py b/...ns/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_camera_env.py
@@ -149,7 +149,7 @@ def _setup_scene(self):
         # add hand, in-hand object, and goal object
         self.hand = Articulation(self.cfg.robot_cfg)
         self.object = RigidObject(self.cfg.object_cfg)
-        self._tiled_camera = TiledCamera(self.cfg.tiled_camera)
+        self._tiled_camera = self.cfg.tiled_camera.class_type(self.cfg.tiled_camera)
         # clone and replicate (no need to filter for this environment)
         self.scene.clone_environments(copy_from_source=False)
         # add articultion to scene - we must register to scene to randomize with EventManager