robosuite_env: remove extra condition in get_observation

kunni918 · Feb 5, 2022 · d203aeb · d203aeb
1 parent c666dc0
commit d203aeb
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/robomimic/envs/env_robosuite.py b/robomimic/envs/env_robosuite.py
@@ -195,8 +195,7 @@ def get_observation(self, di=None):
                 # ensures that we don't accidentally add robot wrist images a second time
                 pf = robot.robot_model.naming_prefix
                 for k in di:
-                    if k.startswith(pf) and (k not in ret) and \
-                            (not k.endswith("proprio-state")) and (k in ObsUtils.OBS_KEYS_TO_MODALITIES):
+                    if k.startswith(pf) and (k not in ret) and (not k.endswith("proprio-state")):
                         ret[k] = np.array(di[k])
         else:
             # minimal proprioception for older versions of robosuite