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allow for parallel rendering. #8

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allow for parallel rendering. #8

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3 changes: 2 additions & 1 deletion run_eval.py
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,7 @@ def main(
episodes = 10,
headless: bool = True,
scene: int = 1,
num_envs: int = 1,
):
# launch omniverse app with arguments (inside function to prevent overriding tyro)
from isaaclab.app import AppLauncher
Expand All @@ -55,7 +56,7 @@ def main(
env_cfg = parse_env_cfg(
"DROID",
device=args_cli.device,
num_envs=1,
num_envs=num_envs,
use_fabric=True,
)
instruction = None
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6 changes: 3 additions & 3 deletions src/environments/droid_environment.py
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Original file line number Diff line number Diff line change
Expand Up @@ -292,7 +292,7 @@ def arm_joint_pos(
joint_indices = [
i for i, name in enumerate(robot.data.joint_names) if name in joint_names
]
joint_pos = robot.data.joint_pos[0, joint_indices]
joint_pos = robot.data.joint_pos[:, joint_indices]
return joint_pos


Expand All @@ -304,7 +304,7 @@ def gripper_pos(
joint_indices = [
i for i, name in enumerate(robot.data.joint_names) if name in joint_names
]
joint_pos = robot.data.joint_pos[0, joint_indices]
joint_pos = robot.data.joint_pos[:, joint_indices]

# rescale
joint_pos = joint_pos / (np.pi / 4)
Expand Down Expand Up @@ -372,7 +372,7 @@ class CurriculumCfg:

@configclass
class EnvCfg(ManagerBasedRLEnvCfg):
scene = SceneCfg(num_envs=1, env_spacing=7.0)
scene = SceneCfg(env_spacing=7.0)

observations = ObservationCfg()
actions = ActionCfg()
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4 changes: 2 additions & 2 deletions src/inference/droid_jointpos.py
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Original file line number Diff line number Diff line change
Expand Up @@ -73,8 +73,8 @@ def infer(self, obs: dict, instruction: str) -> dict:

def _extract_observation(self, obs_dict, *, save_to_disk=False):
# Assign images
right_image = obs_dict["policy"]["external_cam"][0].clone().detach().cpu().numpy()
wrist_image = obs_dict["policy"]["wrist_cam"][0].clone().detach().cpu().numpy()
right_image = obs_dict["policy"]["external_cam"].clone().detach().cpu().numpy()
wrist_image = obs_dict["policy"]["wrist_cam"].clone().detach().cpu().numpy()

# Capture proprioceptive state
robot_state = obs_dict["policy"]
Expand Down