From 420776ede74464335476d55b03c7636d652541aa Mon Sep 17 00:00:00 2001 From: Lev Kozlov Date: Mon, 7 Apr 2025 08:38:30 +0900 Subject: [PATCH] fix: update renderer for new dependencies --- franka_sim/franka_sim/envs/panda_pick_gym_env.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/franka_sim/franka_sim/envs/panda_pick_gym_env.py b/franka_sim/franka_sim/envs/panda_pick_gym_env.py index f0a8d25b..644b73a7 100644 --- a/franka_sim/franka_sim/envs/panda_pick_gym_env.py +++ b/franka_sim/franka_sim/envs/panda_pick_gym_env.py @@ -144,6 +144,8 @@ def __init__( self._viewer = MujocoRenderer( self.model, self.data, + width=self._render_specs.width, + height=self._render_specs.height, ) self._viewer.render(self.render_mode) @@ -225,9 +227,8 @@ def step( def render(self): rendered_frames = [] for cam_id in self.camera_id: - rendered_frames.append( - self._viewer.render(render_mode="rgb_array", camera_id=cam_id) - ) + self._viewer.camera_id = cam_id + rendered_frames.append(self._viewer.render(render_mode="rgb_array")) return rendered_frames # Helper methods.