From 407c346e22e96a29158e8334a23d58ee24f8311f Mon Sep 17 00:00:00 2001 From: Stone Tao Date: Thu, 22 Aug 2024 02:33:44 -0700 Subject: [PATCH] bug fix (#521) --- mani_skill/envs/sapien_env.py | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/mani_skill/envs/sapien_env.py b/mani_skill/envs/sapien_env.py index ab637987f..c753dd932 100644 --- a/mani_skill/envs/sapien_env.py +++ b/mani_skill/envs/sapien_env.py @@ -511,7 +511,7 @@ def capture_sensor_data(self): sensor.capture() def get_sensor_images(self) -> Dict[str, Dict[str, torch.Tensor]]: - """Get image (RGB) visualizations of what sensors currently sense""" + """Get image (RGB) visualizations of what sensors currently sense. This function calls self._get_obs_sensor_data() internally which automatically hides objects and updates the render""" return self.scene.get_sensor_images(self._get_obs_sensor_data()) def get_sensor_params(self) -> Dict[str, Dict[str, torch.Tensor]]: @@ -1189,12 +1189,10 @@ def render_all(self): obj.show_visual() self.scene.update_render() render_images = self.scene.get_human_render_camera_images() - for obj in self._hidden_objects: - obj.hide_visual() + # note that get_sensor_images function will update the render and hide objects itself sensor_images = self.get_sensor_images() for image in render_images.values(): - for img in image.values(): - images.append(img) + images.append(image) for image in sensor_images.values(): for img in image.values(): images.append(img)