Update shadowhand with old tiled camera

kellyguo11 · Jul 31, 2024 · 7929f1b · 7929f1b
1 parent b77e4b6
commit 7929f1b
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Showing 2 changed files with 4 additions and 1 deletion.
diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/kernels.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/kernels.py
@@ -161,4 +161,4 @@ def reshape_tiled_image_old(
 
     # copy the pixel values into the batched image
     for i in range(num_channels):
-        batched_image[camera_id, height_id, width_id, i] = tiled_image_buffer[pixel_start + i]
+        batched_image[camera_id, height_id, width_id, i] = tiled_image_buffer[pixel_start + i]
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
@@ -15,6 +15,7 @@
 from omni.isaac.lab.assets import Articulation, RigidObject
 from omni.isaac.lab.scene import InteractiveSceneCfg
 from omni.isaac.lab.sensors import TiledCamera, TiledCameraCfg, save_images_to_file
+from omni.isaac.lab.sensors.camera.tiled_camera import TiledCameraOld
 from omni.isaac.lab.sim import PhysxCfg, SimulationCfg
 from omni.isaac.lab.sim.spawners.materials.physics_materials_cfg import RigidBodyMaterialCfg
 from omni.isaac.lab.sim.spawners.from_files import GroundPlaneCfg, spawn_ground_plane
@@ -35,6 +36,8 @@ class ShadowHandRGBCameraEnvCfg(ShadowHandEnvCfg):
         offset=TiledCameraCfg.OffsetCfg(pos=(0.0, -0.27, 1.5), rot=(0.0, 0.0, 0.0, -1.0), convention="opengl"),
         # offset=TiledCameraCfg.OffsetCfg(pos=(-2.0, 0.0, 0.75), rot=(-0.5, -0.5, 0.5, 0.5), convention="opengl"),
         data_types=["rgba"],
+        # data_types=["rgb"],
+        # class_type=TiledCameraOld,
         spawn=sim_utils.PinholeCameraCfg(
             focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 20.0)
         ),