fixes in datarenderer

mees · Apr 29, 2022 · 1431a46 · 1431a46
1 parent f7d7726
commit 1431a46
Show file tree

Hide file tree

Showing 2 changed files with 6 additions and 2 deletions.
diff --git a/calvin_env/datarenderer.py b/calvin_env/datarenderer.py
@@ -119,8 +119,8 @@ def save_ep_lens(episode_lengths, num_prev_episodes):
 
 
 def save_step(counter, rgbs, depths, actions, robot_obs, scene_obs, cam_names, **additional_infos):
-    rgb_entries = {f"rgb_{cam_name}": rgbs[i] for i, cam_name in enumerate(cam_names)}
-    depths_entries = {f"depth_{cam_name}": depths[i] for i, cam_name in enumerate(cam_names)}
+    rgb_entries = {f"rgb_{cam_name}": rgbs[f"rgb_{cam_name}"] for i, cam_name in enumerate(cam_names)}
+    depths_entries = {f"depth_{cam_name}": depths[f"depth_{cam_name}"] for i, cam_name in enumerate(cam_names)}
     if actions[-1] == 0:
         actions[-1] = -1
     np.savez_compressed(

diff --git a/conf/cameras/static_gripper_tactile.yaml b/conf/cameras/static_gripper_tactile.yaml
@@ -0,0 +1,4 @@
+defaults:
+  - cameras@static: static
+  - cameras@gripper: gripper
+  - cameras@tactile: tactile