update cartpole camera env

kellyguo11 · Aug 3, 2024 · 1aa79a3 · 1aa79a3
1 parent ca7825d
commit 1aa79a3
Showing 1 changed file with 4 additions and 1 deletion.
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
@@ -172,7 +172,10 @@ def _apply_action(self) -> None:
     def _get_observations(self) -> dict:
         data_type = "rgb" if "rgb" in self.cfg.tiled_camera.data_types else "depth"
         if "rgb" in self.cfg.tiled_camera.data_types:
-            camera_data = 1 - self._tiled_camera.data.output[data_type]
+            camera_data = self._tiled_camera.data.output[data_type]
+            # normalize the camera data for better training results
+            mean_tensor = torch.mean(camera_data, dim=(1, 2), keepdim=True)
+            camera_data -= mean_tensor
         elif "depth" in self.cfg.tiled_camera.data_types:
             camera_data = self._tiled_camera.data.output[data_type]
             camera_data[camera_data == float("inf")] = 0