fix render issue

2024-03-24 17:48:02 +00:00
parent 0c41675986
commit b905111895
3 changed files with 11 additions and 8 deletions
--- a/lerobot/common/envs/simxarm/simxarm/task/base.py
+++ b/lerobot/common/envs/simxarm/simxarm/task/base.py
@@ -155,10 +155,9 @@ class Base(robot_env.MujocoRobotEnv):

    def render(self, mode="rgb_array", width=384, height=384):
        self._render_callback()
-        # if mode == 'rgb_array':
-        # 	return self.sim.render(width, height, camera_name='camera0', depth=False)[::-1, :, :]
-        # elif mode == "human":
-        # 	self._get_viewer(mode).render()
+        # hack
+        self.model.vis.global_.offwidth = width
+        self.model.vis.global_.offheight = height
        return self.mujoco_renderer.render(mode)

    def close(self):