From 5117a3c136fb35c9bcb2b79aae5028700445a680 Mon Sep 17 00:00:00 2001 From: Mayank Mittal Date: Fri, 14 Apr 2023 16:17:56 +0200 Subject: [PATCH] changes random actions scale in test_record_video.py --- .../omni.isaac.orbit_envs/test/test_record_video.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/source/extensions/omni.isaac.orbit_envs/test/test_record_video.py b/source/extensions/omni.isaac.orbit_envs/test/test_record_video.py index afa6975aa5..3139c78443 100644 --- a/source/extensions/omni.isaac.orbit_envs/test/test_record_video.py +++ b/source/extensions/omni.isaac.orbit_envs/test/test_record_video.py @@ -10,7 +10,7 @@ from omni.isaac.kit import SimulationApp # launch the simulator -app_experience = f"{os.environ['EXP_PATH']}/omni.isaac.sim.python.gym.headless.kit" +app_experience = f"{os.environ['EXP_PATH']}/omni.isaac.sim.python.gym.headless.render.kit" config = {"headless": True} simulation_app = SimulationApp(config, experience=app_experience) @@ -65,7 +65,7 @@ def test_record_video(self): # parse configuration env_cfg = parse_env_cfg(task_name, use_gpu=self.use_gpu, num_envs=self.num_envs) # create environment - env = gym.make(task_name, cfg=env_cfg, headless=True, viewport=True) + env = gym.make(task_name, cfg=env_cfg, headless=self.headless, viewport=True) # directory to save videos videos_dir = os.path.join(self.videos_dir, task_name) @@ -77,7 +77,7 @@ def test_record_video(self): # reset environment env.reset() # simulate environment - for _ in range(600): + for _ in range(500): # compute zero actions actions = 2 * torch.rand((env.num_envs, env.action_space.shape[0]), device=env.device) - 1 # apply actions