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clvrai / furniture

IKEA Furniture Assembly Environment for Long-Horizon Complex Manipulation Tasks
https://clvrai.com/furniture
MIT License
496 stars 56 forks source link

Set multiple cameras #21

Closed gaopeng5 closed 4 years ago

gaopeng5 commented 4 years ago

Thanks for the great work. I would like to know if we can obtain the observations from different views? Like, set two or more camera around the furniture..

edwhu commented 4 years ago

Yes, multiple cameras is already enabled in the dev branch. To add more cameras, you can add additional mujoco camera element to env/models/assets/arenas/floor_arena.xml.

You can set --camera_ids 0,3 to specify which cameras you want to enable for rendering, to render the 1st and 4th camera that exists in the XML.

For now, you will have to trace the code in furniture.py to see exactly how we use camera_ids. I will be adding documentation on exactly how to set these for 2.0 release, which will happen in a few weeks.

gaopeng5 commented 4 years ago

Thanks a lot!