updates

kellyguo11 · Aug 3, 2024 · c4dac33 · c4dac33
1 parent 9e1edb3
commit c4dac33
Showing 1 changed file with 2 additions and 4 deletions.
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
@@ -246,15 +246,13 @@ def forward(self, x):
 
         # model = ResNet18()
         self.rgb_model = CustomCNN(self.device)
-        # self.depth_model = CustomCNN(depth=True)
         self.rgb_model.to(self.device)
+        # self.depth_model = CustomCNN(depth=True)
         # self.depth_model.to(self.device)
 
 
     def compute_embeddings_observations(self, state_obs):
-        rgb_img = self._tiled_camera.data.output["rgb"][..., :3].clone()
-
-
+        rgb_img = self._tiled_camera.data.output["rgb"].clone()
         # mean_tensor = torch.mean(rgb_img, dim=(1, 2), keepdim=True)
         # rgb_img -= mean_tensor
         # depth_img = self._tiled_camera.data.output["depth"].clone()